Command Spec (v1.0)
Stable
- Basic Commands
- Control Channels
- Controller Settings
- Run Trajectories
Basic Commands
| Command | Arguments | Description |
| ECHO | [#] | Set whether commands are echoed (bool) |
| | | 0 = Off - No commands are echoed back (silent mode) |
| | | 1 = On - commands are echoed back on the serial line. Command echos are always preceded by an underscore |
| ON | [none] | Start the live pressure output |
| OFF | [none] | Stop the live pressure output |
| LOAD | [none] | Load settings from onboard storage |
| SAVE | [none] | Save settings to onboard storage |
| MODE | [#] | Set the control mode (bool) |
| | | 0 = direct control of valve states |
| | | 1 = pressure control using PID and sensors) |
| | | 2 = pressure trajectory following |
| TIME | [#] | Set the desired loop time for measurement outputs (in ms) (int) |
Control Channels
| Command | Arguments | Description |
| CHAN | [#] | Set all channels active or inactive (bool) |
| | | 0 = inactive |
| | | 1 = active |
| | [#0;#1;…;#N-1] | Set individual channels active *. Replace “#” with either 1 or 0 for on or off (bool). |
| SET | [#] | Set the pressure setpoint of ALL pressure channels (float). This setting is only used if MODE is set to 1. |
| | [#0;#1;…;#N-1] | Set the pressure setpoint of individual pressure channels* (float). |
| VALVE | [#] | Set the valve states of ALL pressure channels (float, can be -1.0 → 1.0). This setting is only used if MODE is set to 0. |
| | | -1.0 = vent at full speed |
| | | 0.0 = idle (both valves in the pair are closed) |
| | | 1.0 = pressurize to full input pressure at full speed |
| | [#0;#1;…;#N-1] | Set the valve state of individual channels* (float). |
When setting things for individual channels, the number of arguments must equal the number of channels.
Controller Settings
| Command | Arguments | Description |
| PID | [#0; #1; #2; #3] | Set the PID gains for one particular channel |
| | | #0 = Channel index (int, can be 0 → N-1) |
| | | #1 = Proportional gain (float) |
| | | #2 = Integral gain (float) |
| | | #3 = Derivative gain (float) |
| WINDOW | [#] | Set the dead window for all channels. This is a window around the setpoint in which control is turned off. Default is 0 (control always on) |
| | [#0;#1;…;#N-1] | Set the dead window for individual channels *. |
When setting things for individual channels, the number of arguments must equal the number of channels.
Run Trajectories
| Command | Arguments | Description |
| TRAJCONFIG | [#0; #1; #2] | Set the trajectory settings |
| | | #0 = Starting Index (int, can be 0 → max_length-1) |
| | | #1 = Trajectory Length (int) |
| | | #2 = Wrap the trajectory (bool) |
| TRAJSET | [#0, #1, #2;…;#N+1] | Set the trajectory line by line |
| | | #0 = index (int, can be 0 → max_length-1) |
| | | #1 = time point (float) |
| | | #2;…;#N+1 = pressure setpoints for all channels (float) |