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 |