Subject:
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Re: NXT direct commands
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Newsgroups:
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lugnet.robotics
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Date:
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Tue, 3 Oct 2006 16:54:27 GMT
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Viewed:
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3078 times
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For better documentation of the various parameters, look in the
Executable File Specification.pdf around page 81. Here's the notes I
made in ruby-nxt (http://rubyforge.org/projects/ruby-nxt/):
# output mode
COAST = 0x00 # motor will rotate freely?
MOTORON = 0x01 # enables PWM power according to speed
BRAKE = 0x02 # voltage is not allowed to float between PWM
pulses, improves accuracy, uses more power
REGULATED = 0x04 # required in conjunction with output regulation mode setting
# output regulation mode
REGULATION_MODE_IDLE = 0x00 # disables regulation
REGULATION_MODE_MOTOR_SPEED = 0x01 # auto adjust PWM duty cycle if
motor is affected by physical load
REGULATION_MODE_MOTOR_SYNC = 0x02 # attempt to keep rotation in
sync with another motor that has this set, also involves turn ratio
# output run state
MOTOR_RUN_STATE_IDLE = 0x00 # disables power to motor
MOTOR_RUN_STATE_RAMPUP = 0x10 # ramping to a new SPEED
set-point that is greater than the current SPEED set-point
MOTOR_RUN_STATE_RUNNING = 0x20 # enables power to motor
MOTOR_RUN_STATE_RAMPDOWN = 0x40 # ramping to a new SPEED
set-point that is less than the current SPEED set-point
# sensor mode
RAWMODE = 0x00 # report scaled value equal to raw value
BOOLEANMODE = 0x20 # report scaled value as 1 true or 0
false, false if raw value > 55% of total range, true if < 45%
TRANSITIONCNTMODE = 0x40 # report scaled value as number of
transitions between true and false
PERIODCOUNTERMODE = 0x60 # report scaled value as number of
transitions from false to true, then back to false
PCTFULLSCALEMODE = 0x80 # report scaled value as % of full scale
reading for configured sensor type
CELSIUSMODE = 0xA0
FAHRENHEITMODE = 0xC0
ANGLESTEPSMODE = 0xE0 # report scaled value as count of ticks
on RCX-style rotation sensor
SLOPEMASK = 0x1F
MODEMASK = 0xE0
On 10/3/06, Nether <lego-robotics@crynwr.com> wrote:
> Hi, i'm programing a Python library for remote controlling the NXT, now i'm
> working with the "set output state" message and i would like to know what
> means the diferent values of each parameter:
>
> #MOTOR MODES
> MOTORON = 0x01
> BRAKE = 0x02
> REGULATED = 0x04
>
> #MOTOR REGULATION MODES
> REGULATION_IDLE = 0x00
> REGULATION_MOTOR_SPEED = 0x01
> REGULATION_MOTOR_SYNC = 0x02
>
> #RUN STATES
> RUN_STATE_IDLE = 0x00
> RUN_STATE_RAMPUP = 0x10
> RUN_STATE_RUNNING = 0x20
> RUN_STATE_RAMPDOWN = 0x40
>
> I have tried to send them to the NXT to discover what they do, but the
> behavior isn't what i expect.
> --
> View this message in context: http://www.nabble.com/NXT-direct-commands-tf2377311.html#a6623948
> Sent from the LEGO Robotics mailing list archive at Nabble.com.
>
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Message is in Reply To:
 | | NXT direct commands
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| Hi, i'm programing a Python library for remote controlling the NXT, now i'm working with the "set output state" message and i would like to know what means the diferent values of each parameter: #MOTOR MODES MOTORON = 0x01 BRAKE = 0x02 REGULATED = (...) (18 years ago, 3-Oct-06, to lugnet.robotics)
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