Project for ME366J at the University of Texas at Austin
To control the instrument, the GUI sends commands over serial that are then processed. The format and functionality of these commands are described below.
The move command moves the roller to the specified position (absolute) following a trapezoidal trajectory with specified maximum velocity and acceleration.
M <position> <max_velocity> <max_acceleration>\n
| variable | description |
|---|---|
position |
absolute position to move to [steps] |
max_velocity |
maximum velocity [steps/s] |
max_acceleration |
maximum acceleration [steps/s/s] |
The pluck command moves the servo to pluck the string once. The servo alternates between two pre-defined angles such that moving from one angle to the other causes the plucker to pluck the string.
P\n