Description:
Start continous moving to the right.
Command LOFT
result_t command_loft (device_t id)
Command code (CMD): "loft" or 0x74666F6C.
Request: (4 bytes)
INT32U CMD Command
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Upon receiving the command "loft" the engine is shifted from the current point to a distance GENG :: Antiplay, then move to the same
point.
Command SSTP
result_t command_sstp (device_t id)
Command code (CMD): "sstp" or 0x70747373.
Request: (4 bytes)
INT32U CMD Command
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Soft stop engine. The motor stops with deceleration speed.
Group of commands set the current position
Command GPOS
result_t get_position (device_t id, get_position_t* the_get_position)
Command code (CMD): "gpos" or 0x736F7067.
Request: (4 bytes)
INT32U CMD Command
Answer: (26 bytes)
INT32U CMD Command (answer)
INT32S Position The position of the whole steps in the engine
INT16S uPosition Microstep position is only used with stepper motors
INT64S EncPosition Encoder position.
INT8U Reserved [6] Reserved (6 bytes)
INT16U CRC Checksum
Description:
Reads the value position in steps and micro for stepper motor and encoder steps all engines.
Command SPOS
result_t set_position (device_t id, const set_position_t* the_set_position)
Command code (CMD): "spos" or 0x736F7073.
Request: (26 bytes)
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