Shaft2 (Revision E) Programming Table This is the programming table for the Shaft2 (Rev. E) module.

Shaft2 (Revision E) Programming Table

Command
Name		 Action Bit Description
8 7 6 5 4 3 2 1 0
Count_Latch Send 0 0 0 0 0 0 0 0 0 Latch the current rotation count for both quadrature encoders.
Count_Clear Send 0 0 0 0 0 0 0 0 1 Clear rotation count for both shafts.
Shaft0_High_Get Send 0 0 0 0 0 0 0 1 0 Return the high order 8 bits of the latched shaft0 as {hhhhhhhh}.
Receive 0 h h h h h h h h
Shaft1_High_Get Send 0 0 0 0 0 0 0 1 1 Return the high order 8 bits of the latched shaft1 as {hhhhhhhh}.
Receive 0 h h h h h h h h
Shaft_Low_Get Send 0 0 0 0 0 0 1 0 0 Return the low order 8 bits of from the last shaft as {llllllll}.
Receive 0 l l l l l l l l
X_Get Send 0 0 0 0 1 0 0 0 0 Return the current X coordinate as the signed 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Y_Get Send 0 0 0 0 1 0 0 0 1 Return the current Y coordinate as a signed 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Bearing_16_Get Send 0 0 0 0 1 0 0 1 0 Return the current bearing in units of 360 degrees/256 as {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Bearing_8_Get Send 0 0 0 0 1 0 0 1 1 Return the current bearing in units of 360 degrees/256 as {bbbbbbbb}.
Receive 0 b b b b b b b b
Target_X_Get Send 0 0 0 0 1 0 1 0 0 Return the current Target X coordinate as the signed 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Target_Y_Get Send 0 0 0 0 1 0 1 0 1 Return the current Target_Y coordinate as a signed 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Target_Bearing_16_Get Send 0 0 0 0 1 0 1 1 0 Return the current bearing in units of 360 degrees/256 as {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Target_Bearing_8_Get Send 0 0 0 0 1 0 1 1 1 Return the current bearing in units of 360 degrees/256 as {bbbbbbbb}.
Receive 0 b b b b b b b b
Target_Distance_Get Send 0 0 0 0 1 1 0 0 0 Return the current distance to target as a signed 16-bit value {bbbbbbbb}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Wheel_Spacing_Get Send 0 0 0 0 1 1 0 0 1 Return the current wheel spacing as a signed 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Wheel_Ticks_Get Send 0 0 0 0 1 1 0 1 0 Return the ticks for one wheel rotations as a 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Wheel_Diameter_Get Send 0 0 0 0 1 1 0 1 1 Return the wheel diameter as a 16-bit value {hhhhhhhhllllllll}.
Receive 0 h h h h h h h h
Receive 0 l l l l l l l l
Iteration_Count_Get Send 0 0 0 0 1 1 1 0 0 Return the current iteration count as {iiiiiiii}.
Receive 0 b b b b b b b b
Counter_Signs_Get Send 0 0 0 0 1 1 1 0 1 Return the counter signs. {a}=1 means shaft0 counter is inverted. {b}=1 means shaft1 counter is inverted. {s}=1 means tthat shaft0 shaft1 are swapped.
Receive 0 0 0 0 0 0 s a b
X_Set Send 0 0 0 1 0 0 0 0 0 Set the current X coordinate to the signed 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Y_Set Send 0 0 0 1 0 0 0 0 1 Set the current Y coordinate to the signed 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Bearing_16_Set Send 0 0 0 1 0 0 0 1 0 Set the current bearing in units of 360 degrees/256 to {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
X_Y_Bearing_Latch Send 0 0 0 1 0 0 0 1 1 Latch the current X, Y, and Bearing.
Target_X_Set Send 0 0 0 1 0 0 1 0 0 Set the current Tarset X coordinate to the signed 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Target_Y_Set Send 0 0 0 1 0 0 1 0 1 Set the current Tarset_Y coordinate to the signed 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Wheel_Spacing_Set Send 0 0 0 1 0 1 0 0 1 Set the current wheel spacing to the signed 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Wheel_Ticks_Set Send 0 0 0 1 0 1 0 1 0 Set the ticks for one wheel rotations to the 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Wheel_Diameter_Set Send 0 0 0 1 0 1 0 1 1 Set the wheel diameter to the 16-bit value {hhhhhhhhllllllll}.
Send 0 h h h h h h h h
Send 0 l l l l l l l l
Counter_Signs_Set Send 0 0 0 1 0 1 1 0 0 Set the counter signs as {sab}. {a}=1 means shaft0 counter is inverted. {b}=1 means shaft1 counter is inverted. {s}=1 means tthat shaft0 shaft1 are swapped.
Send 0 0 0 0 0 0 s a b
Copyright (c) 2009 by Wayne C. Gramlich. All rights reserved.