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]
Overwrite the current settings profile in 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
3 = pressure control with ramp from current setpoint to new one
TIME
[#]
Set the desired loop time for measurement outputs (in ms) (int)
UNITS
[#]
Set the pressure units you want to use (int)
0 = psi
1 = kPa
2 = bar
3 = atm
[#0;#1]
Set the input and output units separately
#0 = input units: used for setting setpoints and loading trajectories (int)
#1 = output units: used for displaying data (bool)
NOTE: Units are converted at the command/output level. Pressures are always internally represented in psi regaurdless of what the units are set to.
Safety Settings
Command
Arguments
Description
MAXP
[#]
Set the maximum pressure allowed. Pressures are clipped if outside this range when using the “SET” command, but not when loaded as part of a trajectory. (used for the pressure watchdog)
MINP
[#]
Set the minimum pressure allowed. Pressures are clipped if outside this range when using the “SET” command, but not when loaded as part of a trajectory.
MASTERP
[#]
If a master pressure sensor exists, use it as a watchdog (bool)
0 = inactive
1 = active
[#0;#1]
#0 = on/off (bool)
#1 = pressure sensor data output on/off (bool)
MASTERMAXP
[#0;#1]
Set the maximum pressure before the master watchdog triggers, as well as the
#0 = maximum pressure threshold (float)
#1 = minimum time above the threshold before watchdog triggers (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
[#0;#1]
Set the pressure setpoint of ALL pressure channels. This setting is only used if MODE is set to 1 or 3.
#0 = ramp time in seconds (float) - only used if MODE is set to 3
#1 = Setpoint in psi (float)
[#0;#1;…;#N]
Set the pressure setpoint of individual pressure channels* (float).
#0 = ramp time in seconds (float) - only used if MODE is set to 3
#1;…;#N = Setpoints for each channel in psi (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.
Set Up Trajectories
Command
Arguments
Description
TRAJCONFIG
[#0; #1; #2; #3]
Set the trajectory settings
#0 = Prefix length (int)
#1 = Main trajectory length (int)
#2 = Suffix length (int)
#3 = Run the suffix trajectory after stop (bool)
TRAJWRAP
[#]
Wrap the trajectory (bool) (Same functionality can be achieved using TRAJLOOP)
0 = Off - trajectory excecutes once
1 = On - loop over and over until stopped
TRAJLOOP
[#]
Number of times to loop (int)
-1 = Loop Forever until the TRAJSTOP command is sent
0 = Skip the main loop
1,2,… = Do the main loop this many times
TRAJSPEED
[#]
Stretch the speed of the trajectory (float)
1.0 - base speed
>1.0 - Faster than base speed
<1.0 - Slower than base speed (can never be 0; if 0 is sent, no changes are made)
TRAJSET
[#0, #1, #2;…;#N+1]
Set the main trajectory line by line
#0 = index (int, can be 0 → max_length-1)
#1 = time point (float)
#2;…;#N+1 = pressure setpoints for each channel (float), where the row is zero-padded if the number of inputs is less than the number of total channels
PREFSET
[#0, #1, #2;…;#N+1]
Set the prefix trajectory line by line (works exactly like TRAJSET)
SUFFSET
[#0, #1, #2;…;#N+1]
Set the prefix trajectory line by line (works exactly like TRAJSET)
Run Trajectories
Command
Arguments
Description
TRAJSTART
[none]
Start the trajectory from the beginning. Run suffix first, then run trajectory until stop is called or it finishes. If wrapping is set, loop over the main trajectory until stop is called. )
TRAJSTOP
[none]
Stop the trajectory and return to 0 pressure
TRAJPAUSE
[none]
Pause the trajectory and hold pressure
TRAJRESUME
[none]
Resume the trajectory
Others
Command
Arguments
Description
DEFLOAD
[none]
Load default settings profile from onboard storage
DEFSAVE
[none]
Overwrite default settings profile settings to onboard storage
LCDTIME
[#]
Set the desired refresh time for the LCD screen if attached (in ms) (int)