result_t get_brake_settings (device_t id, brake_settings_t* brake_settings)
Command code (CMD): "gbrk" or 0x6B726267.
Request: (4 bytes)
INT32U CMD Command
Answer: (25 bytes)
INT32U CMD Command (answer)
INT16U t1 Time in ms between turn on motor power and turn off brake.
INT16U t2
Time in ms between turn off brake and moving readiness. All moving commands will execute after this
interval.
INT16U t3 Time in ms between motor stop and turn on brake.
INT16U t4 Time in ms between turn on brake and turn off motor power.
INT8U BrakeFlags Flags.
0x01 - BRAKE_ENABLED (Brake control is enabled, if this flag is set.)
0x02 - BRAKE_ENG_PWROFF (Brake turns off power of step motor, if this flag is set.)
INT8U
Reserved
[10]
Reserved (10 bytes)
INT16U CRC Checksum
Description:
Read settings of brake control.
Command SCTL
result_t set_control_settings (device_t id, const control_settings_t* control_settings)
Command code (CMD): "sctl" or 0x6C746373.
Request: (93 bytes)
INT32U CMD Command
INT32U MaxSpeed [10] Array of speeds (full step) using with joystick and button control. Range: 0..100000.
INT8U
uMaxSpeed
[10]
Array of speeds (1/256 microstep) using with joystick and button control.
INT16U Timeout [9] timeout[i] is time in ms, after that max_speed[i+1] is applying. It is using with buttons control only.
INT16U MaxClickTime Maximum click time. Prior to the expiration of this time the first speed isn't enabled.
INT16U Flags Flags.
0x03 - CONTROL_MODE_BITS (Bits to control engine by joystick or buttons.)
0x00 - CONTROL_MODE_OFF (Control is disabled.)
0x01 - CONTROL_MODE_JOY (Control by joystick.)
0x02 - CONTROL_MODE_LR (Control by left/right buttons.)
0x04 - CONTROL_BTN_LEFT_PUSHED_OPEN (Pushed left button corresponds to open contact, if this flag is
set.)
0x08 - CONTROL_BTN_RIGHT_PUSHED_OPEN (Pushed right button corresponds to open contact, if this flag
is set.)
INT32S DeltaPosition Shift (delta) of position
INT16S uDeltaPosition Fractional part of the shift in micro steps. Is only used with stepper motor. Range: -255..255.
INT8U Reserved [9] Reserved (9 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
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