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seedstpprotocol:control_using_stp [2017/09/27 12:32]
pedro.ramilo
seedstpprotocol:control_using_stp [2017/11/02 09:22]
pedro.ramilo
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 All Seed Robotics products can be controlled using the Seed Robotics STP Protocol and they also have full support for the [[dynamixel:​dynamixel_protocol|Dynamixel Protocol (versions 1 and 2)]]. All Seed Robotics products can be controlled using the Seed Robotics STP Protocol and they also have full support for the [[dynamixel:​dynamixel_protocol|Dynamixel Protocol (versions 1 and 2)]].
  
-On this document we will focus of the STP protocol which is a simpler, lighter and easy to use approach to controlling the units.+On this documentwe will focus on the STP protocol which is a simpler, lighter and easy to use approach to controlling the units.
  
 The main advantage of the STP protocol is that you can quickly send commands to the unit and query status information using a direct Serial Connection and text commands. The main advantage of the STP protocol is that you can quickly send commands to the unit and query status information using a direct Serial Connection and text commands.
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 The protocol is pretty simple and straightforward and is built on the following foundations:​ The protocol is pretty simple and straightforward and is built on the following foundations:​
-  * Each device connected to the bushas a unique ID and behaves as a "​slave"​. The main board has also got its own ID to allow access to its functionalities.+  * Each device connected to the bus has a unique ID and behaves as a "​slave"​. The main board has also got its own ID to allow access to its functionalities.
   * Slaves are always silent and will only respond when queried by the master (host)   * Slaves are always silent and will only respond when queried by the master (host)
   * The slaves expose a Control Table, a kind of memory map, where the master can read status variables or write data to trigger actions.   * The slaves expose a Control Table, a kind of memory map, where the master can read status variables or write data to trigger actions.
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   * Remove the cover of the unit to reveal the micro USB connector   * Remove the cover of the unit to reveal the micro USB connector
   * Connect one end of a micro USB cable to the hand and the other end to the host computer. This will create a Virtual COMM port on the host.   * Connect one end of a micro USB cable to the hand and the other end to the host computer. This will create a Virtual COMM port on the host.
-  * Using a Serial Terminal (such as //Termite// on Windows or similar on Linux/Mac OS), connect to the Virtual Serial port. You can select any speed up to 10Mbps.+  * Using a Serial Terminal (such as [[https://www.compuphase.com/​software_termite.htm|Termite]] on Windows or similar on Linux/Mac OS), connect to the Virtual Serial port. You can select any speed up to 10Mbps.
   * VERY IMPORTANT: Configure your Serial Terminal to use \n as the line terminator or the unit will not properly recognize the commands.   * VERY IMPORTANT: Configure your Serial Terminal to use \n as the line terminator or the unit will not properly recognize the commands.
  
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   * If using a portable device, scan for a device named ''​SEED_[S/​N]''​ (where [S/N] would be your unit's serial number)   * If using a portable device, scan for a device named ''​SEED_[S/​N]''​ (where [S/N] would be your unit's serial number)
   * If using your computer, open the Bluetooth software and scan for the same ''​SEED_[S/​N]''​ device. Once connected the PC will create a Virtual COMM port that connects to the unit.   * If using your computer, open the Bluetooth software and scan for the same ''​SEED_[S/​N]''​ device. Once connected the PC will create a Virtual COMM port that connects to the unit.
-  * Using a Serial Terminal (such as //Termite// if using your PC or any other compatible with your platform), connect to the Virtual Serial port. The Bluetooth connection operates at 115200bps.+  * Using a Serial Terminal (such as [[https://www.compuphase.com/software_termite.htm|Termite]]/ if using your PC or any other compatible with your platform), connect to the Virtual Serial port. The Bluetooth connection operates at 115200bps.
   * VERY IMPORTANT: Configure your Serial Terminal to use \n as the line terminator or the unit will not properly recognize the commands.   * VERY IMPORTANT: Configure your Serial Terminal to use \n as the line terminator or the unit will not properly recognize the commands.
  
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 ''​wrb 2 24 1''​ ''​wrb 2 24 1''​
  
-Next, we write the desired Goal position (int his case 256). The goal position parameter is at Memory Position 30 and is a Word (2 byte value)+Next, we write the desired Goal position (in this case 256). The goal position parameter is at Memory Position 30 and is a Word (2 byte value)
  
 ''​wrw 2 30 256''​ ''​wrw 2 30 256''​
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-==== Online Diagnostics and Maintenance ====+==== Extended commands for Online Diagnostics and Maintenance ====
  
 The Console exposes specific command to assist in diagnosing your unit and re-configuring some of the options on the fly. The Console exposes specific command to assist in diagnosing your unit and re-configuring some of the options on the fly.
  
-The go-to commands for Diagnostics are ''​status''​ and ''​about''​.\\ +The go-to commands for Diagnostics are ''​status''​ and ''​about''​.
-The ''​restart psu''​ command helps you clear overload errors in the Internal Actuators without having to reset power on the entire bus. This is done by restarting only the built in PSU that regulates power to the internal Actuators.+
  
-For a complete reference, please see the [[eros:​consolecommands|List of Console Commands (for EROS architecture)]]+The ''​restart psu''​ command helps you clear overload errors in the Internal Actuators without having to reset power on the entire bus. This is done by restarting only the built-in PSU that regulates power to the internal Actuators. 
 + 
 +The ''​setfan''​ command helps you adjust the units' fan speed (on supported models) to improve thermal behaviour or reduce noise (depending on the usage scenario). 
 + 
 +For a **Complete list of commands**, please see the [[eros:​consolecommands|List of Console Commands (for EROS architecture)]]
  
 ==== FAQ / Troubleshooting ==== ==== FAQ / Troubleshooting ====
  
-  * I get no reply when I send a command: you must terminate your commands with a ''​\n''​. If you are using a Serial Terminal make sure it set to use ''​\n''​ as a line terminator. +  * I get no reply when I send a command: you must terminate your commands with a ''​\n'' ​(also called "Line Feed (LF)" or "​Newline"​ in other software packages) 
-  * Sometimes I get text instead of a number in the square brackets ''​[ ]'':​ this happens when there is a severe error that can be reported in the error mask. For example a timeout would return the textual "​timeout"​ message.+ 
 +If you are using a Serial Terminal make sure it set to use ''​\n''​ as a line terminator. 
 + 
 +For example, for //​Termite//,​ click "​Settings"​ and under "​Transmitted text", select "​Append LF";​\\ 
 +If using //Putty//, type Ctrl+J after typing your command, to send the "​\n"​ character. Putty doesn'​t support adding "​\n"​ automatically but pressing Ctrl+J sends a "​\n"​ which has the same effect.\\ 
 +For any other Terminal program, please consult the instructions of the program. 
 + 
 +  * Sometimes I get text instead of a number in the square brackets ''​[ ]'':​ this happens when there is a severe error that can be reported in the error mask. For examplea timeout would return the textual "​timeout"​ message.
  
 ==== Conclusion ==== ==== Conclusion ====
  
-The STP Protocol is as simple as it gets. It respects the Memory Mapped design of the actuators and provides an easy to use protocol to interface with the units.+The STP Protocol is as simple as it gets. It respects the Memory Mapped design of the actuators and provides an easy-to-use protocol to interface with the units.
  
 The fact that all replies come enclosed in brackets ''​[ ]''​ makes it easy to parse when building your own program. The fact that all replies come enclosed in brackets ''​[ ]''​ makes it easy to parse when building your own program.

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  • seedstpprotocol/control_using_stp.txt
  • Last modified: 2017/11/02 09:22
  • by pedro.ramilo