Cube instruction set
nop
parameters: -
description: Does nothing (might send back some default "hearbeat" data.
status
parameters: -
description: Sends back hardware status.
move_to
parameters: target_pos
description: Moves the sensor head to target pos
, expects the data to be in suitable format depending on mode (cartesian, polar, relative etc.).
get_abs_pos
parameters: -
description: Sends back current absolute position in current coordinate format (polar or cartesian).
get_rel_pos
parameters: -
description: Sends back current relative position in current coordinate format (polar or cartesian).
set_zero_pos
parameters: -
description: Sets current position as the relative zero of the coordinate system.
reset_zero_pos
parameters: -
description: Resets the relative zero of the coordinate system to absolute zero.
set_coordinate_mode
parameters: {cartesian, cylindrical, spherical}
description: Sets the coordinate mode to specified.
home
parameters: -
description: Launches the homing procedure and resets the whole machine to absolute zero, including relative zero.
spi_transfer
parameters: chip_select{0 - 3}
, mode{0 - 3}
, length{0-64}
, data
description: Executes SPI transfer with the specified chip select. The transfer is symmetrical - bytes in == bytes out
. The max length of the transfer is 64 bytes. Returns the transfer status and received bytes.
i2c_transfer
parameters: rx_length{0-64}
, tx_length{0-64}
, address
, data
description: Executes I2C transfer with the specified rx and tx length, address and sends the specified data. Returns the status of the transfer and received bytes.
set_gpio_mode
parameters: gpio_index{0-15}
, {input_output}
description: Sets the GPIO pin to input or output.
set_gpio
parameters: gpio_index{0-15}
, bool value
description: Sets the pin output to specified value. Returns error if pin is configured as input.
get_gpio
parameters: gpio_index{0-15}
description: Reads the pin value and sends it back. If the pin is set as a output, it returns the current set value.
set_parameter
parameters: parameter_id
, parameter_value
description: Sets the specified parameter. parameter_id
is 16bit integer maybe? parameter_value
is raw 32bit binary form of the value to be set?
get_parameter
parameters: parameter_id
description: Sets the specified parameter. parameter_id
is 16bit integer maybe? Returns the raw binary form of the value of the parameter.