allstopon - STOP ALL MOVEMENT
Purpose
This stops all movement of the robot and puts it in a safe mode.
Syntax
allstopon
Notes This command overrides ALL other commands that would normally be able to induce some kind of movement in the robots drive system.
The ONLY way to leave all stop on mode is to run the allstopoff command.
allstopoff - Leave all stop on mode.
Purpose
This causes the robot to leave all stop on mode.
Syntax
allstopoff
bmd - The direction of BOTH motors
Purpose Allows the direction of movement of both drive motors to be set at the same time. Syntax bmd dir Arguments dir 0 = Forwards 1 = Reverse.
bms - Set the speed of both drive motors
Purpose
This sets the speed of both drive motors to the same value.
Syntax
bms value
Arguments
value
-100 to 100
Where:
-100 full reverse 0 stop
100 full forward
Pushers No Returns Nothing
Examples bms 0 STOP bms 50 Half forward bms -50 Half back Channels & Vars Channel 150 both motor speed 160 left motor speed 170 right motor speed
Notes This is for robots with motor drives.
cbst - Cold start boost for the drive motors
Purpose
This is an extra duty cycle added to the motors speed when its starting from stand still.
Syntax
cbst value
Arguments
value
0 to 1000 This is a duty cycle.
Examples
cbst 100 Set to 100
Notes This is for robots with motor drives.
dmlp - Set Left Drive Motor Esp32 Pin no
Purpose
This is the pin on the esp32 to use for the left drive motors pwm.
Syntax
dmlp pin
Arguments
pin
The pin no on the esp32 to use.
Notes This is for robots with motor drives. Don’t use unless you know what you are doing.
dmrp - Set Right Drive Motor Esp32 Pin no
Purpose
This is the pin on the esp32 to use for the right drive motors pwm.
Syntax
dmrp pin
Arguments
pin
The pin no on the esp32 to use.
Notes This is for robots with motor drives. Don’t use unless you know what you are doing.
dslimit - Disable Steering Limit Checking
Purpose
This allows the steering limit switch checking to be enabled and disabled on robots using a linear actuator with limit switches for steering.
Syntax
dslimit value
Arguments
value
0 = Don’t disable 1 = Disable
Pushers No Returns Nothing
Examples
dslimit 0 Don’t disable steering limit switches
dslimit 1 Disable steering limit switches
Notes
This should only be used for testing.
faster - Pulse the drive motors forwards a little.
Purpose
This will briefly pulse both drive motors in the forwards direction a little and then turn them off.
Syntax
faster
Examples faster Move robot forwards a little
left - Pulse the robot to the left
Purpose
On a robot with motor drives fitted this command will cause the robot to turn a little to the left.
Syntax
left
Examples
left
Turn slightly to the left.
Notes This is for robots with motor drives.
lmd - Set Left Drive Motors Direction
Purpose
Set the direction of travel of the left
drive motor. 0 = forward
Syntax
lmd dir
Arguments dir 0 = forward 1 = reverse 1 = reverse
lmo - Set Left Drive Motors Offset
Purpose
This is added to the motors speed at a low level to compensate for differences in the motors.
Syntax
lmo offset
Arguments offset The duty cycle offset between 0 and 1000.
lms - Set the speed of the left drive motor
Purpose
This sets the speed of the left drive motor.
Syntax
lms value
Arguments
value
-100 to 100
Where:
-100 full reverse 0 stop
100 full forward
Pushers No Returns Nothing
Examples
lms 0 STOP
lms 50 Forward half
lms -50 Back half
Channels & Vars
Channel
150 both motor speed
160 left motor speed
Notes
This is for robots with motor drives.
lmt - Left motor start threshold
Purpose
This is the min speed value at which the left motors wheels will turn. Range 0 to 100.
Syntax
lmt value
Arguments
value
0 to 100
Examples
lmt 25
Channels & Vars
Channel
165
Notes This is for robots with motor drives.
right - Pulse the robot to the right
Purpose
On a robot with motor drives fitted this command will cause the robot to turn a little to the right.
Syntax
right
Examples
right Turn slightly to the right.
Notes
This is for robots with motor drives.
rmd - Set Right Drive Motors Direction
Purpose
Set the direction of travel of the right
drive motor. 0 = forward
Syntax
rmd dir
Arguments dir 0 = forward 1 = reverse
rmo - Set Right Drive Motors Offset
Purpose
This is added to the motors speed at a low level to compensate for differences in the motors.
Syntax
rmo offset
Arguments
offset
The duty cycle offset between 0 and 1000.
rms - Set the speed of the right drive motor
Purpose
This sets the speed of the right drive motor.
Syntax
rms value
Arguments
value
-100 to 100
Where:
-100 Full reverse
0 STOP
100 Full forwards
Examples
rms 0 rms 50 rms -50
Channels & Vars
Channel
150 both motor speed
170 right motor speed
Notes
This is for robots with motor drives.
rmt - Right motor start threshold
Purpose
This is the min speed value at which the right motors wheels will turn.
Range 0 to 100.
Syntax
rmt value
Arguments
value
0 to 100
Examples
rmt 25
Channels & Vars Channel 175 Notes This is for robots with motor drives.
rstdv - Reset the motor drive system
Purpose
Resets the drive system to the way it is when the JackBord is turned on.
Syntax
rstdv
Examples rstdv
sbms - Set the speed of both drive motors to different values
Purpose
This sets the speed of both drive motors to the different values in the same command.
Syntax
sbms left right
Arguments
left
Speed of the left motor. -100 to 100
Where:
-100 full reverse
0 stop
100 full forward
right
Speed of the right motor. -100 to 100
Where:
-100 full reverse
0 stop
100 full forward
Pushers No Returns Nothing
Examples
sbms 0 0 Stop
sbms 25 50 Left turn
sbms 50 25 Right turn
sbms 20 20 Forwards
Channels & Vars
Channel
150 both motor speed
160 left motor speed
170 right motor speed
Notes This is for robots with motor drives.
sdmct - Set the JackBord drive motor controller type
Purpose
Set the type of motor being used on the robots drive system. Options are:
Type Description
0 NO motor drive installed.
1 Normal MOSFET mode
2 DRV8833 H-bridge
3 L298N H-bridge
4 BTS7960B H-bridge
5 Mobility scooter drive using MCP4161 Digital Potentiometer
6 Single Front Wheel Drive on, front. Connected to the L298 H-bridge Output 2.
Syntax
sdmct value
Arguments
value
Drive type type, see above.
Examples
sdmct 2
Set DRV8833 H-bridge type.
Notes This is for robots with motor drives.
sdtur - set default turn urgency
Purpose
Set the default turn urgency
Syntax
sdtur value
Arguments
value
1 to 50
Examples
sdtur 10 Set default turn urgency to 10
setstmax - Set the Maximum Safe Operating Speed for the robot
Purpose
This allows a safe maximum speed to be specified and it will be enforced automatically.
Syntax
setstmax speed
Arguments
speed
-100 to 100
Where: -100 full reverse 0 stop 100 full forward
Notes
This is for robots with motor drives. The limit set here is automatically enforced by the drive system.
setstmin - Set the Minimum Safe Operating Speed for the robot
Purpose
This allows a safe minimum speed to be specified and it will be enforced automatically.
Syntax
setstmin speed
Arguments
speed
-100 to 100
Where: -100 full reverse 0 stop 100 full forward
Notes
This is for robots with motor drives. The limit set here is automatically enforced by the drive system.
slower - Pulse the drive motors backwards a little.
Purpose
This will briefly pulse both drive motors in the reverse direction a little and then turn them off.
Syntax
slower
Examples slower
Move robot backwards a little
ssv - Set Speed Step Value
Purpose
Set the amount by which the speed of the drive motors will be changed by other commands such as turn.
Syntax
ssv value
Arguments
value
1 to 50 Pushers No
Returns Nothing
Examples
ssv 10 Set to 10
Notes This is for robots with motor drives.
straight - Drive in a straight line
Purpose
Causes the robot to drive in a straight line.
Syntax
straight
stop - Stop both of the robots drive motors
Purpose
Use this to bring the robot to a halt.
Syntax
stop
Examples
stop Halt the robot
Notes
This is for robots with motor drives.
strpw - Set the linear actuator pulse width in milli secs
Purpose
This sets the width of the pulses used to move linear actuators attached to the JackBord via an L298 H-bridge.
The shorter the pulse the slower and more precise the control is.
Syntax
strpw value
Arguments
value
Pulse width in milli-seconds between 1 and 1000ms.
Examples
strpw 200
Set the pulse width to 200ms
Notes This is for robots with motor drives.
strtype - Set the steering type
Purpose
Set the type of steering being used on the robots drive system. Options are:
Type Description
0 Normal differential drive
1 Rack and pinion steering
2 Single front steering wheel
3 L298 Linear Actuator ie Beach Robot. On L298 h-bridge motor no 1.
Syntax
stur value
Arguments
value
Steering type, see above. Pushers No
Returns Nothing
Examples
strtype 0
Set differential steering
Notes This is for robots with motor drives.
stur - Set turn urgency
Purpose
This is the increment used when turning. The higher the value the more aggressive turning will be.
Syntax
stur value
Arguments
value
Turn urgency 1 to 500. This is a duty cycle.
Pushers No
Returns Nothing
Examples
stur 200
Set the turn urgency to 200
Notes This is for robots with motor drives.
tgdir - Toggle the direction of travel.
Purpose
This toggles the current direction of travel of the drive motors.
Syntax
tgdir
tsf - Set turn speed factor
Purpose
This is the increment used when turning. The higher the value the more aggressive turning will be.
Syntax tsf value
Arguments
value
1 to 50
Pushers No
Returns Nothing
Examples tsf 10 Set the turn speed factor to 10.
Notes This is for robots with motor drives.
turn - Turn the robot left or right
Purpose
Provides a means of steering a robot using values in the range:
-100 Full left turn 0 Straight
100 Full right turn
The exact limits for left and right are set using the minleft and minright commands.
Syntax
turn value
Arguments
value
-100 Full left turn
0 Straight
100 Full right turn
Examples
turn
0 Go straight
turn -10 Soft left turn
turn 90 Hard right turn
Channels & Vars
Channel 153
Notes This is for robots with motor drives.
vdView - drive system status
Purpose View the status of the motor drive system. Syntax vd