J
Configure the speed profile controller
Command:
J, max speed (16bits), acceleration (8bits)
Answer:
j
Effect:
Set the speed and the acceleration for the trapezoidal speed
shape of the position controller. The max speed parameter
indicates the maximal speed reached during the displace-
ment. See section 3.2.1 for more details. At the reset, these
parameters are set to standard values: max speed to 20000,
acc to 64.
Syntax:
J,d15000,10
K
Set Programmable Led
Command:
K, LED (8bits), State (8bits)
Answer:
k
Effect:
Set the state of the two Programmable Leds ( see section
3.1.3, Led 5 & 6). LED select which one must be set (0 =
led 5, 1 = Led 6).
State select the operation (0 = OFF, 1 = ON, 2 = Change
state).
Syntax:
K,0,1
L
Set speed open loop
Command:
L, speed motor left (32bits), speed motor right (32bits)
Answer:
l
Effect:
Set the speed of the two motors without a PID controller.
Where a value of 1023 correspond to PWM of 100%.
Syntax:
L,l500,l500
M
Init Motors
Command:
M
Answer:
m
Effect:
Initialise or reset the motor controllers. Must be used if an
error like motor blocked or current limit occured
Khepera III manual ver 2.2
37
