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| erosfw:consolecommands [2017/02/22 22:15] – created wadmin | eros:consolecommands [2017/11/02 14:29] (current) – Pedro Ramilo |
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| The STP commands are available in two flavours: for ''byte'' or ''word'', depending on wether you're reading/writing a 1byte value or a 2 byte value. | The STP commands are available in two flavours: for ''byte'' or ''word'', depending on wether you're reading/writing a 1byte value or a 2 byte value. |
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| __''wrb'' - write BYTE on Control table__\\ | __''wrb'' - write BYTE on Control table__\\ |
| ''wrb [Actuator I D] [mempos] [value~255]'' | ''wrb [Actuator I D] [mempos] [value~255]'' |
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| ==== Console Commands ==== | ==== Console Commands ==== |
| ''hlp'' - display list of available commands | ''help'' - display list of available commands |
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| ''status'' - displays the current status of the unit | ''status'' - displays the current status of the unit |
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| ''scanbus'' - initiates a scan of the internal bus to detect all connected actuator I Ds. Use the ''status'' command after about 30 seconds to list the I Ds found. | ''scanbus'' - initiates a scan of the internal bus to detect all connected actuator IDs. Use the ''status'' command after about 10 seconds to list the IDs found. |
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| ''open'' - opens the hand | ''setfan [0~10]'' - sets the unit fan speed (0=disabled; the default is 2)\\ |
| | May be used to improve thermal performance under load or reduce noise.\\ |
| | Please note fan speed is automatically adjusted based on internal temperature (unless this is set to 0). This setting works as a multiplier for the internally calculated fan speed. |
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| ''close'' - closed the hand | ''open'' - opens the hand *New feature in future firmware release* |
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| ''partopen [0-4095/0-1023]'' - partially opens the hand and moves all actuators to the set position | ''close'' - closes the hand *New feature in future firmware release* |
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| ''setpos [Actuator I D] [Position]'' - sets position for the specified actuator. If Torque is not enable, this command will enable torque for that actuator and make the movement. | ''partopen [0-4095/0-1023]'' - partially opens the hand and moves all actuators to the set position *New feature in future firmware release* |
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| ''restart psu'' - reboots the internal psu that powers all internal actuators. This is especially useful if you wish to clear an error from an internal actuator without power cycling the whole unit. | ''setpos [Actuator I D] [Position]'' - sets position for the specified actuator. If Torque is not enabled, this command will enable torque for that actuator and make the movement. |
| ''restart all'' - performs a full reboot on the unit including the main board and the internal actuators | |
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| ''config extbaud [BAUD SETTING]'' - confugres the baud rate of the main interface (external interface) | ''restart psu'' - reboots the internal psu that powers all internal actuators. This is especially useful if you wish to clear an error from an internal actuator without power cycling the whole unit.\\ |
| | ''restart all'' - performs a full reboot on the unit including the main board and the internal actuators. |
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| | ''commbridge [bitmask]'' - Bridges two interfaces directly and disables all firmware functions (board will act as a direct interface converter/bridge). Add two values, to compose the bitmask that selects the interfaces to bridge.\\ |
| | Bitmask: 1=USB, 2=Int Bus, 4=Ext Bus, 8=BT, 16=USB w/DTR Reset.\\ |
| | IMPORTANT: When bridging USB to another interface, the Baud at which you open the USB Virtual COMM port will be replicated to paired port (Int interface/Ext interface/Bluetooth). However, peripherals on those interfaces have preset bauds and may not respond if the wrong baud is used to open the USB Virtual COMM port.\\ |
| | If the USB interface is not one of the paired ports, then the default configured baud rates will be used for each of the bridged interfaces. |
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| | ''config extbaud [BAUD SETTING]'' - configures the baud rate of the main interface (external interface)\\ |
| ''config extid [I D]'' - configures the Dynamixel I D for the external interface | ''config extid [I D]'' - configures the Dynamixel I D for the external interface |
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| ''config btname [NAME]'' - configures the Bluetooth module broadcasting name. | ''config btname [NAME]'' - configures the Bluetooth module broadcasting name. |
| ''config btcode [xxxx]'' - configures the Bluetooth module code for connection. Having a code is highly recommended as it prevents unauthorized connection and operation of the unit. | |
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| __''bti'' - Shows Bluetooth Module Information (if installed)__\\ | |
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| __''bwn [name]'' - Change the Bluetooth Module Broadcasting Name__\\ | |
| Sets the Broadcast name for the Bluetooth module of the hand. | |
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| __''bwp [code]'' - Change the Bluetooth Module Pairing Code__\\ | ''config btcode [xxxx]'' - configures the Bluetooth module code for connection. Having a code is highly recommended as it prevents unauthorized connection and operation of the unit.\\ |
| Sets the paring code for the Bluetooth module of the hand.\\ | |
| Any code lower than 1000 will be padded with leading zeros, to make a 4 digit code, required for pairing. | Any code lower than 1000 will be padded with leading zeros, to make a 4 digit code, required for pairing. |
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