Regbot command interface

Revision as of 16:38, 1 November 2022

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Teensy command list

Commands available for regbot Mary

• help This help text.
• veri and 'sub ver N' get version number, HW type and repository date

State settings

• setidx N Set ID to N (sets robot name) (id=89, part of hbt).
• setid string Set device type to string (< 32 chars, is=regbot).
• sethw N Set hardware version (is = 41, part of hbt).
• stop Stop and set manual mode
• start Start mission
• off T Turn off power (cuts power after T seconds)
• pind pin v [p] Set pin direction v=1 output, p=1 pull up, p=-1 pull down
• pinv pin v Set pin to v [0..1]
• hbti and 'sub hbt N' Get time and state 'hbt time idx revision batVolt state hw'
• idi and 'sub id N' Get device type and name 'name type name'
• timei and 'sub time N' sample timing [us] 'time start actual sensor control done'
• pini and 'sub pin N' Get pin value (pin is set by 'pind') 'pin pin value'

Encoder settings

• enc0 Reset pose to (0,0,0)
• confw rl rr g t wb Set configuration (radius gear encTick wheelbase)
• enci and 'sub enc N' Get encoder value 'enc encoder interrupts' (integer)
• posei and 'sub pose N' Get current pose 'pose t x y h' (sec,m,m,rad)
• veli and 'sub vel N' Get velocity 'left right' (m/s)
• confi and 'sub conf N' Get robot conf (radius, radius, gear, pulsPerRev, wheelbase, sample-time)
• ---- EE (configuration flash) ====-
• eew Save configuration to EE-Prom (flash)
• eer Read configuration from EE-Prom

Motor help

• motv m1 m2 Set motor voltage -24.0..24.0 - and enable motors
• motfrq Set motor PWM frequency [100..50000], is 17000
• moti and 'sub mot N' Get motor voltage 'mot m1(V) m2(V) vel_ref1(m/s) vel_ref2(m/s)'
• motpwmi and 'sub motpwm N' Get motor direction and PWM 'motpwm dir1 pwm1 dir2 pwm2'

Servo

• svos e p v e p v ... set all servos e=enable, p=position +/-1024, v=velocity -1..100,-1=max
• servo i p v set one servo i=index 1..5, pos +/-1024, v=velocity 0..4000,0=max, 1=sloooow
• svoi and 'sub svo N' get servo configuration 'svo {enabeled pos[0...1000] vel}*5'

AD converter

• adi and 'sub ad N' Get raw AD values (ir1, ir2, battery, m1 current, m2 current)
• lsi and 'sub ls N' Get raw line sensor AD values (n1, n2, ls1 (l,h), ls2 ... ls8, ct1, ct2 (us))

Motor current

• mcai and 'sub mca N' Get motor current 'mca m1 m2' [Amps]
• mcoi and 'sub mco N' Get motor current offset (AD: 0..4096) 'mco o1 o2 ad1 ad2'

Line sensor

• lip p w h t wi s Set sensor baseics p=on, w=white, h=high power, t=tilt comp, wi=wide, s=swap
• licw Use current value as full white
• licb Use current value as black limit
• liwi and 'sub liw N' Get line-sensor white (AD) level 'liw w1 w2 w3 w4 w5 w6 w7 w8'
• libi and 'sub lib N' Get line-sensor black (AD) level 'lib b1 b2 b3 b4 b5 b6 b7 b8'
• ligi and 'sub lig N' Get line-sensor channel gain 'lig g1 g2 g3 g4 g5 g6 g7 g8'
• livi and 'sub liv N' Get line-sensor channel value 'liv ls1 ls2 ls3 ls4 ls5 ls6 ls7 ls8'
• livni and 'sub livn N' Get line-sensor normalized value 'livn ls1 ls2 ls3 ls4 ls5 ls6 ls7 ls8'
• lipi and 'sub lip N' Get line-sensor position 'lip on wh le leCnt re reCnt ... some more'

IR distance

• irc A1 B1 A2 B2 Set calibration values A=13cm, B=50cm (sensor 1 and 2)
• iron V Turn IR sensor on or off V=1 for on (0=off)
• iri and 'sub ir N' Get IR and calibration data 'irc dist1 dist2 ... (meter)

Mission help

• madd user-mission-line> add a user mission line (0 lines loaded in 1 threads)
• mmod T L user-mission-line Modify line L in thread T to new user-mission-line
• mclear> Clear all user mission lines
• mevent X> Make an event number X (from 0 to 31)
• mgeti and 'sub mget N' Get all mission lines
• mtoki and 'sub mtok N' Get all mission lines as tokens (debug feature)

logger

• log Get current log, if any
• lfls Set log flags (except control) - same order as lfl
• lfcs Set log control log flags - same order as lfc
• lsts Set log interval (for timing info only)
• lfci and 'sub lfc N' Get log flags for control 'lfc vel turn pos edge wall dist bal balvel balpos'
• lfli and 'sub lfl N' Get log flags 'lfl mis acc gyro mag motref motv mota enc vel turnr pose line dist batt ex chirp'
• lsti and 'sub lst N' Get log status 'lst interval rows rowsMax'

Control settings

• rc P lv hv [b] Remote control P=0: off, P=1:manual, P>1: mission; lv=linear vel (m/s); hv = heading vel (ish); b=1 for balance
• hm n Hard coded mission: n=1 balance 5s, n=2 square, n=3 wall, n=?
• cvel params Set wheel velocity control
• cveli and 'sub cvel N' Get params
• ctrn params Set heading control
• ctrni and 'sub ctrn N' Get params
• cwve params Set front distance control
• cwvei and 'sub cwve N' Get params
• cwth params Set wall distance control
• cwthi and 'sub cwth N' Get params
• cpos params Set drive distance control
• cposi and 'sub cpos N' Get params
• cedg params Set edge follow control
• cedgi and 'sub cedg N' Get params
• cbal params Set balance angle control
• cbali and 'sub cbal N' Get params
• cbav params Set balance velocity control
• cbavi and 'sub cbav N' Get params
• cbap params Set balance drive position control
• cbapi and 'sub cbap N' Get params
• params: use kp iuse itau ilim Lfuse LfNum LfDen Lbuse LbNum LbDen preUse preNum preDen
• preIuse preItau preIlim ffUse ffKp ffFuse ffFnum ffFden LimUse Lim

IMU help

• gyroc Start gyro calibration (finished=1)
• magcal Set magnetometer calibration values (offset[3] rotate/scale[9])
• acccal Set accelerometer calibration values (offset[3] scale[3])
• acccal2 make simple acceleration calibration with horizontal board
• board rX rY rZ Set IMU board orientation angles (in radians)
• gyroc Start gyro calibration (finished=1)
• gyroi and 'sub gyro N' Get current gyro value as 'gyro gx gy gz' (deg/s)
• gyrooi and 'sub gyroo N' Get gyro offset 'gyroo ox oy oz'
• acci and 'sub acc N' Get accelerometer values 'acc ax ay az' (m/s^2)
• accoi and 'sub acco N' Get accelerometer offset values 'acco xo yo zo' (m/s^2)
• magi and 'sub mag N' Get magnetometer values 'mag mx my mz' (uT)
• magwi and 'sub magw N' Get magnetometer raw values 'magw mx my mz' (uT)
• magoi and 'sub mago N' Get magnetometer offset values 'mago xo yo zo r11 r12 r13 r21 ... r33' (uT)
• imuposei and 'sub imupose N' Get IMU-based pose 'imupose roll pitch yaw (radians)
• boardi and 'sub board N' Get orientation of IMU board (board rX rY rZ)

IR distance

• play N Play melody number N to buzzer-pin
• mutedi and 'sub muted N' Is sound muted (on 4.1 only)
• soundi and 'sub sound N' Get current sound activity

Display

• disp text Set a display line text
• displayi and 'sub display N' Get current display text

USB host

• usbhost A Set USB host as active or not A=1 is active
• joyn A Notify on updates
• joyc A Changes only