DFRobot Veyron Посібник - Сторінка 11

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DFRobot Veyron Посібник
<bank>: 0 = 8‐15,2 = Channel Channel Channel 0‐7,1 = 16‐23. 
<value>: decimal output (0‐255), Bit0 = LSB. 
This command allows the 8-bit binary write-once and simultaneously update all channels in the
bank, the update will be completed within 20ms after receive carriage return symbols
Example Commmand
# 1:123 <cr>
This command enables bank output 123 in decimalism, 123(decimal) = 01111011 (binary), bank
1 for channels 8-15, then channel 8 and 13 in bank 1 will be 0, the other channel will be 1.

Query State of Motion

Q <cr>
If servo is rotating, it will return "+", if servo has moved to a specific location, it will return "."
The return value of this command will delay 50us to 5ms.

Query Pulse Width

QP <ch> <cr>
<ch>: Servo channel number, 0 ‐ 23. 
The return value is one byte (binary), which means the servo current pulse width, resolution:
10us, for example, the pulse width is 1500us, then it will return to 150 (binary). This command
can query multiple servo pulse width, each servo has a byte, the return value will delay 50us to
5ms, typical value is 100us.
How to drive the board from the DFServo
We have made a special software--DFServo to drive Veyron.