This is glossary of commands accepted and returned by TwoWheeler. Every command must be ended with carriage return character to be read.
| Command | Description |
|---|---|
| FLASH | next cmd will use flash memory |
| FLASH=k | next k-cmds will use flash |
| V? | get battery voltage |
| PID? | get current PID coefficients |
| PID=p,i,d | set PID coefficients |
| PIDLP? | get current PID lowpass coeff |
| PIDLP=a | set PID lowpass coefficient |
| RPM? | get RPM of motors |
| T? | get target angle |
| T=a | set target angle |
| T | set current angle as target |
| A? | get current pitch angle |
| ALP? | get current low pass coeff |
| ALP=a | set angle low pass coefficient |
| C? | get motors current |
| S | starts balancing |
| X | stop balancing |
| VER? | get firmware version |
| LOOPTIME? | get last loop execution time |
| LOOPDELAY? | get loop delay |
| LOOPDELAY=t | set loop delay |
| SB? | get speed boost |
| SB=a | set speed boost |
| ST? | get speed threshold |
| ST=a | set speed threshold |
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| Command | Description |
|---|---|
| OK | default command acknowledge |
| ERROR | malformed command |
| V=n | battery voltage in mV |
| PID=p,i,d | current PID coefficients |
| PIDLP=a | current PID lowpass coefficient |
| RPM=l,r | current motor RPM |
| C=l,r | motors current |
| T=a | current target angle |
| A=a | current pitch angle |
| ALP=a | current angle low pass coeff |
| VER=v | firmware git commit id |
| LOOPTIME=v | last loop execution time in ms |
| LOOPDELAY=t | current loop delay in ms |
| SB=a | current speed boost |
| ST=a | current speed threshold |