Directed Perception PTU-D46 Series - 4 Command Reference; 4.3 Positional Control Commands and Queries

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COMMAND REFERENCE PTU-D46 User’s Manual (v2.14.0)
4 COMMAND REFERENCE
This section describes the pan-tilt unit command set. Each command has a section that
provides a brief functional description, a format (syntax) description, examples, and related
topics. When controlling the pan-tilt unit from a terminal, a complete menu of pan-tilt commands
can be obtained by entering the character “?”.
4.1 Binary Command Format
A C Programmer’s Interface (model PTU-CPI) is available for higher bandwidth binary
communications between a host computer and the PTU controller.
4.2 General ASCII Command Format
When describing the format (syntax) of pan-tilt commands, the following conventions are
adopted:
• Commands issued to the pan-tilt unit (e.g., typed in by you) are shown in bold.
• Input characters may be in upper or lower case (we show them in upper case for
presentational consistency)
• A delimiter (<delim>) can be either a space (“ ”) or a carriage return (<CR>).
• A successfully executed command returns “*<CR>”. Successful query execution returns
“* <QueryResult><CR>”. Command execution failure returns
“! <ErrorMessage><CR>”. A pan axis limit hit asynchronously returns “!P” and a tilt
axis limit hit asynchronously returns “!T”.
4.3 Positional Control Commands & Queries
4.3.1 Position (absolute)
Description:
Specify or query the absolute pan or tilt axis position. Desired positions can
be changed on-the-fly without waiting for previous position commands to
complete.
Syntax
Query current absolute pan position: PP<delim>
Set desired absolute pan position: PP<position><delim>
Query current absolute tilt position: TP<delim>
Set desired absolute tilt position: TP<position><delim>
Example
The following sends the pan axis to the left, waits, then sends it to the right:
PP-2500 *
A *
PP * Current Pan position is -2500
PP2500 *
A *
PP * Current Pan position is 2500