Differences

This shows you the differences between two versions of the page.

--- dh4d:consolecommands [2016/03/29 15:28] – replaced the word "servo" with "actuator" wadmin
+++ dh4d:consolecommands [2017/03/23 16:34] (current) – wadmin
@@ Line 1: / Line 1: @@
-===== SR-DH4D Console Commands =====
+===== [Ares Architecture] SR-RH4D/DH4D Console Commands =====
+//This is a comprehensive list of all commands supported by the SR-RH4D/DH4D console, with ARES Architecture (units built before March st 2017).\\//
+//If you are looking for the Console Commands for the EROS architecture (all other units and models) see [[eros:consolecommands|here]].//
-This is a comprehensive list of all commands supported by the SR-DH4D console.
 These commands can be used through the USB console or through the Bluetooth interface (if installed).
@@ Line 36: / Line 38: @@
 These commands let you configure the inner workings and settings for your hand.
-They should be used with caution as they typically manipulate settings that will be save din permanent storage (EEPROM).
+They should be used with caution as they typically manipulate settings that will be saved in permanent storage (EEPROM) and have a direct impact on the operation of the hand.
 __''ree 1'' - Resets Baud Rate, Return Delay Time and Status Return Level of the Dynamixel communication to factory defaults__\\
@@ Line 67: / Line 69: @@
-==== Commands to manipulate the Control Tables ====
+==== STP Procotol: Commands to manipulate the Control Tables ====
-This functionality has been implemented to ensure a 1:1 match in manipulating the [[dh4d:dynamixelcontroltables|Dynamixel Control tables]] through any of the interfaces in the Hand.
+The Seed Robotics High Speed (SHSP) Protocol is implemented as an extension of the console commands and is designed to offer a simple and efficient way to control the hand by manipulating the control tables.
+It has been implemented to ensure a 1:1 match in manipulating the [[dh4d:dynamixelcontroltables|Dynamixel Control tables]] through any of the interfaces in the Hand.
 **Please note that console syntax does not follow the Dynamixel protocol format:**
-Instead, commands are provided to let you target a Control Table position and read or write a byte or word directly to it.
+Instead, commands are provided to let you target a Control Table position and read or write a ''byte'' or ''word'' directly to it.
-It has the same effect as sending a READ or WRITE command to the hand, except here, we do it in a console environment and console syntax.
-Another very important difference is that, when addressing the Actuator control tables, in the console commands we identify them from 1-4 (5 for the Virtual ID) and this is fixed. We do not use the Dynamixel ID in the syntax of these commands.
+Another very important point is that, when addressing the Actuator control tables, in the console commands we identify them from 1-4 (5 for the Virtual ID) and this is fixed. We do not use the Dynamixel ID in the syntax of these commands.
 __''wrb'' - write BYTE on Dynamixel table__\\
@@ Line 88: / Line 90: @@
 Return\\
-''[byte: Dynamixel error flag]\n''
+''[byte: bitmask flag]\n''
@@ Line 95: / Line 97: @@
 Return\\
-''[byte: Dynamixel error flag]\t[byte:value]\n''
+''[byte: bitmask error flag]\t[byte:value]\n''
@@ Line 102: / Line 104: @@
 Return\\
-''[byte: Dynamixel error flag]\t[word:value]\n''
+''[byte: bitmask error flag]\t[word:value]\n''