Wiki source code of SSC-32 General Purpose Sequencer
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4.1 | 1 | {{html wiki="false" clean="true"}} |
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2.1 | 2 | <body> |
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1.1 | 3 | |
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2.1 | 4 | <div id="container"> |
| 5 | <p align="center"><span class="headlg">SSC-32 General Purpose Sequencer.</span> | ||
| 6 | </p><p align="center">Author: Mike Dvorsky<br> | ||
| 7 | Version: 1.00<br> | ||
| 8 | Date: Jan 15 2008</p> | ||
| 9 | <p align="center"><span class="headmd">Table of Contents</span></p> | ||
| 10 | <table border="0" width="100%"> | ||
| 11 | <tbody><tr> | ||
| 12 | <td width="50%" valign="top"> | ||
| 13 | <ul class="toc"> | ||
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5.1 | 14 | <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#eeweer">EEW, EER commands - EEPROM Write, Read</a> |
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2.1 | 15 | <ul class="toc"> |
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5.1 | 16 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#eewform">EEW Format</a></li> |
| 17 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#eerform">EER Format</a> | ||
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2.1 | 18 | <ul class="toc"> |
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5.1 | 19 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#seqform">Sequence Format</a></li> |
| 20 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#eerhead">Header</a></li> | ||
| 21 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#srvspdl">Servo/Speed List</a></li> | ||
| 22 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#timepwl">Time/Pulse Width List</a></li> | ||
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2.1 | 23 | </ul> |
| 24 | </li> | ||
| 25 | </ul> | ||
| 26 | </li> | ||
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5.1 | 27 | <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#memmap">Memory Map - Sequences in External EEPROM</a> |
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2.1 | 28 | <ul class="toc"> |
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5.1 | 29 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#loc01">Location 0-255: Sequencer Pointer Table</a></li> |
| 30 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#loc02">Locations 256-32767: Sequence Data</a></li> | ||
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2.1 | 31 | </ul> |
| 32 | </li> | ||
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5.1 | 33 | <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#gennotes">General Notes on Programming EEPROM</a></li> |
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2.1 | 34 | </ul> |
| 35 | </td> | ||
| 36 | <td width="50%" valign="top"> | ||
| 37 | <ul class="toc"> | ||
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5.1 | 38 | <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#seqex">Sequence Example</a> |
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2.1 | 39 | <ul class="toc"> |
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5.1 | 40 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#seqpoint">Sequence Pointer Table</a></li> |
| 41 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#seqhead">Sequence Header</a></li> | ||
| 42 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#srvspeed">Servo/Speed List</a></li> | ||
| 43 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#timepw">Time/Pulse Width List</a></li> | ||
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2.1 | 44 | </ul> |
| 45 | </li> | ||
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5.1 | 46 | <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#seqcom">Sequencer Commands</a> |
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2.1 | 47 | <ul class="toc"> |
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5.1 | 48 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#playstart">Start a player</a></li> |
| 49 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#playstop">Stop a player</a></li> | ||
| 50 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#playspd">Change the speed of a player</a></li> | ||
| 51 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#playpau">Change the pause value of a player</a></li> | ||
| 52 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#gotostep">Go to a step in a sequence</a></li> | ||
| 53 | <li class="toc"><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#playque">Query a player</a></li> | ||
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2.1 | 54 | </ul> |
| 55 | </li> | ||
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5.1 | 56 | <li><a href="https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-modules/ssc-32/ssc-32-general-purpose-sequencer/#seqcomex">Examples of Sequencer Commands</a></li> |
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2.1 | 57 | </ul> |
| 58 | </td> | ||
| 59 | </tr> | ||
| 60 | </tbody></table> | ||
| 61 | <hr width="95%" color="#808080"> | ||
| 62 | <p align="center"><span class="headmd"><a name="eeweer">EEW, EER commands - EEPROM Write, Read.</a></span></p> | ||
| 63 | <p>The EEW and EER commands are used to write and read external EEPROM data. In order for these commands to be used, an EEPROM chip must be | ||
| 64 | installed in the 8-pin socket on the SSC-32. The chip used for testing is a Microchip 24LC256-I/P which has 32768 bytes of storage. Other I<sup>2</sup>C | ||
| 65 | serial EEPROMs with comparable pinout should work, but have not been tested.</p> | ||
| 66 | <p>The primary use of external EEPROM is to store sequences for the General Purpose sequencer. The first 256 bytes of external EEPROM are reserved | ||
| 67 | exclusively for the GP sequencer, but the other bytes may be used for other purposes.</p> | ||
| 68 | <p>EEPROM read and write commands are issued with arguments in decimal format, but the response to an EEPROM read command is in binary format. This | ||
| 69 | is in keeping with the SSC-32 convention of receiving commands in decimal format and providing responses in binary format.</p> | ||
| 70 | <p>NOTE: The current firmware version (SSC32-V2.01GP) requires a '-' character before the address in EEPROM read and write commands. If this | ||
| 71 | character is omitted, the EEPROM access will be performed on internal EEPROM of the ATMega168 processor. Future firmware versions will not require | ||
| 72 | the '-' character for external EEPROM access.</p> | ||
| 73 | <p>NOTE: No external EEPROM read or write accesses should be performed while a sequence is executing out of external EEPROM.</p> | ||
| 74 | <p><span class="headsm"><a name="eewform">EEW Instruction Format</a></span></p> | ||
| 75 | <p>EEW -<addr>,<byte>,<byte>,<byte>,...,<byte><cr></p> | ||
| 76 | <ul> | ||
| 77 | <li><addr> = the starting address of the data to be written, in decimal format</li> | ||
| 78 | <li><byte> = a byte of data to be written to external EEPROM, in decimal format</li> | ||
| 79 | </ul> | ||
| 80 | <p>The EEW command writes up to 32 bytes of EEPROM. To write more than 32 bytes, issue multiple commands. The command may take several milliseconds | ||
| 81 | to complete. When performing multiple successive EEW commands, it is recommended that you wait for each command to complete before starting the next | ||
| 82 | command. There are several ways to do this:</p> | ||
| 83 | <ul> | ||
| 84 | <li>Delay 10ms between EEW commands.</li> | ||
| 85 | <li>Use an EER command to read back the data just written. The EER command will not return until the EEW has finished.</li> | ||
| 86 | <li>Issue any command that receives a response from the SSC-32. The SSC-32 will not respond to any commands until the EEW command has finished.</li> | ||
| 87 | </ul> | ||
| 88 | <p>Example: write 8 bytes of external EEPROM starting at address 256. Write the values 12, 34, 56, 78, 90, 98, 76, 54.</p> | ||
| 89 | <p>EEW -256, 12, 34, 56, 78, 90, 98, 76, 54<cr></p> | ||
| 90 | <p>NOTE: The EEW command will complete faster if the starting address is a multiple of 32. If you have a large block of data to write, begin by | ||
| 91 | writing any unaligned portion; then write 32-byte aligned blocks; finally write any remaining unaligned portion.</p> | ||
| 92 | <p><span class="headsm"><a name="eerform">EER Instruction Format</a></span></p> | ||
| 93 | <p>EER <addr> ; <nbytes></p> | ||
| 94 | <ul> | ||
| 95 | <li><addr> = the starting address of the data to be written, in decimal format</li> | ||
| 96 | <li><nBytes> = the number of bytes to read, in decimal format</li> | ||
| 97 | </ul> | ||
| 98 | <p>The EER command reads up to 32 bytes of EEPROM. To read more than 32 bytes, issue multiple commands. The return value from the EER command is a | ||
| 99 | string of bytes, in binary format.</p> | ||
| 100 | <p>Example: read 8 bytes of external EEPROM starting at address 256. (Assume the values in EEPROM are the values programmed in the previous | ||
| 101 | example.)</p> | ||
| 102 | <p>EER -256;8<cr><br> | ||
| 103 | result: 12 34 56 78 90 98 76 54 (binary)</p> | ||
| 104 | <hr width="95%" color="#808080"> | ||
| 105 | <p align="center"><span class="headmd"><a name="memmap">Memory Map - Sequences in External EEPROM</a></span></p> | ||
| 106 | <p>Sequences stored in external EEPROM must follow a defined format, as described below. The first 256 bytes are reserved for the Sequence Pointer | ||
| 107 | Table, but the remaining bytes may be used for other purposes, as long as they are not part of a sequence pointed to by an entry in the Sequence | ||
| 108 | Pointer Table.</p> | ||
| 109 | <p><span class="headsm"><a name="loc01">Locations 0 - 255: Sequence Pointer Table</a></span></p> | ||
| 110 | <p>The Sequence Pointer Table contains the addresses of the sequence starting locations in EEPROM. Valid starting addresses are 256 - 32767. If | ||
| 111 | there is no sequence for a particular sequence number, the Sequence Pointer Table entry should be 0 or 65535. The addresses are stored in big-endian | ||
| 112 | format, with the high byte in the lower address.</p> | ||
| 113 | <p>@0:1 = pointer to sequence 0 (high byte in address 0, low byte in address 1)<br> | ||
| 114 | @2:3 = pointer to sequence 1<br> | ||
| 115 | @4:5 = pointer to sequence 2<br> | ||
| 116 | @6:7 = pointer to sequence 3<br> | ||
| 117 | Etc., up to sequence 127</p> | ||
| 118 | <p><span class="headsm"><a name="loc02">Locations 256 - 32767: Sequence Data</a></span></p> | ||
| 119 | <p>The sequence pointer table entries point to sequence data. Sequences may be stored at any location, but the only way a sequence can be accessed | ||
| 120 | is through the Sequence Pointer Table.</p> | ||
| 121 | <p><span class="headsmi"><a name="seqform">Sequence format</a></span></p> | ||
| 122 | <p>Each sequence has 3 contiguous sections</p> | ||
| 123 | <ul> | ||
| 124 | <li>Header - containing the sequence number, number of servos, and number of steps</li> | ||
| 125 | <li>Servo/speed list - containing a list of all the servos and the maximum move speed for each servo</li> | ||
| 126 | <li>Time/pulse width list - containing the move time and pulse widths for each step</li> | ||
| 127 | </ul> | ||
| 128 | <p><span class="headsmi"><a name="eerhead">Header</a></span></p> | ||
| 129 | <p>The header consists of 3 bytes</p> | ||
| 130 | <ul> | ||
| 131 | <li>Sequence number</li> | ||
| 132 | <li>Number of servos</li> | ||
| 133 | <li>Number of steps</li> | ||
| 134 | </ul> | ||
| 135 | <p>The sequence number must match the sequence number of the Sequence Pointer Table entry. The number of servos may be from 1 to 32. The number of | ||
| 136 | steps may be from 1 to 255.</p> | ||
| 137 | <p><span class="headsmi"><a name="srvspdl">Servo/Speed List</a></span></p> | ||
| 138 | <p>The servo/speed list consists of 3 bytes per servo. The size of the servo/speed list must match the number of servos in the header.</p> | ||
| 139 | <ul> | ||
| 140 | <li>Servo number for 1st servo</li> | ||
| 141 | <li>Speed high byte for 1st servo</li> | ||
| 142 | <li>Speed low byte for 1st servo</li> | ||
| 143 | <li>Servo number for 2nd servo</li> | ||
| 144 | <li>Speed high byte for 2nd servo</li> | ||
| 145 | <li>Speed low byte for 2nd servo</li> | ||
| 146 | <li>Etc.</li> | ||
| 147 | </ul> | ||
| 148 | <p>The servo numbers must be 0-31. Speeds are 0-65535 us/second just like move commands.</p> | ||
| 149 | <p><span class="headsmi"><a name="timepwl">Time/Pulse Width List</a></span></p> | ||
| 150 | <p>The Time/Pulse Width List specifies the servo positions (a.k.a. pulse widths) for each step in the sequence, and the amount of time to move from | ||
| 151 | step to step. The list alternates between servo pulse widths and move times. It begins and ends with a move time.</p> | ||
| 152 | <ul> | ||
| 153 | <li>Step (N-1) -> 0 Time</li> | ||
| 154 | <li>Step 0 PW, PW,..., PW (one PW for each servo)</li> | ||
| 155 | <li>Step 0 -> 1 Time</li> | ||
| 156 | <li>Step 1 PW, PW,..., PW</li> | ||
| 157 | <li>Step 1 -> 2 Time</li> | ||
| 158 | <li>. . .</li> | ||
| 159 | <li>Step (N-1) PW, PW,..., PW</li> | ||
| 160 | <li>Step (N-1) -> 0 Time</li> | ||
| 161 | </ul> | ||
| 162 | <p>If there are M servos and N steps in a sequence, the time/pulse width list consists of 2*(M+1)*N + 2 bytes.</p> | ||
| 163 | <p>There are several things to note about the time/pulse width list:</p> | ||
| 164 | <ol> | ||
| 165 | <li>The Step (N-1) -> 0 move time is duplicated, appearing at the beginning and the end of the list. This makes it easier for the SSC-32 to play | ||
| 166 | sequences in reverse.</li> | ||
| 167 | <li>Move times are in ms, just like move commands.</li> | ||
| 168 | <li>Move times are 2 bytes each, with the high byte appearing first (i.e. big-endian).</li> | ||
| 169 | <li>The move times should be the times for a normal move speed. The speed can be adjusted faster or slower as the sequence is played. The range of | ||
| 170 | adjustment is from 0 to 200% of the programmed speed, either forward or reverse.</li> | ||
| 171 | <li>Pulse widths are in us, just like move commands.</li> | ||
| 172 | <li>Pulse widths are 2 bytes each, big-endian.</li> | ||
| 173 | <li>The pulse width entries for each step must exactly match the list of servo numbers in the servo/speed list.</li> | ||
| 174 | </ol> | ||
| 175 | <hr width="95%" color="#808080"> | ||
| 176 | <p align="center"><span class="headmd"><a name="gennotes">General notes on programming EEPROM.</a></span></p> | ||
| 177 | <ul> | ||
| 178 | <li>Write no more than 32 bytes at a time. For the fastest write speed with external EEPROM, make as many writes as possible start on a 32-byte | ||
| 179 | boundary. For example, to write a 1000-byte block starting at address 500, begin by writing bytes 500-511 in a single 12-byte write. Then do 30 | ||
| 180 | writes of 32 bytes each--these writes will all start on 32-byte boundaries. Finally, write the last 28 bytes in a single write.</li> | ||
| 181 | <li>After writing sequences to external EEPROM, it is recommended that you verify the contents of external EEPROM by reading back the bytes | ||
| 182 | written.</li> | ||
| 183 | <li>Bytes of external EEPROM can be used for other purposes than storing sequences, as long as no Sequence Pointer Table entries point to these | ||
| 184 | bytes. For example, a portion of EEPROM could be reserved for storage of text strings describing the sequences. This way, when the sequences are | ||
| 185 | read out of EEPROM, there will be some clue to what the sequence is intended to do.</li> | ||
| 186 | </ul> | ||
| 187 | <hr width="95%" color="#808080"> | ||
| 188 | <p align="center"><span class="headmd"><a name="seqex">Sequence Examples</a></span></p> | ||
| 189 | <p>Here is a simple example of a sequence. The sequence will move 2 servos through 3 steps. The servos will be servo #9 and servo #10. The steps | ||
| 190 | will be:</p> | ||
| 191 | <p>Step 0: Servo #9 = 1500us, servo #10 = 1500us<br> | ||
| 192 | Step 1: Servo #9 = 1000us, servo #10 = 1500us<br> | ||
| 193 | Step 2: Servo #9 = 1000us, servo #10 = 2000us</p> | ||
| 194 | <p>Moving from step 0 to step 1 will take 600ms, from step 1 to step 2 will take 1200ms, and from step 2 to step 0 will take 2400ms.</p> | ||
| 195 | <p>The sequence number will be 5, and it will be stored beginning at EEPROM address 500.</p> | ||
| 196 | <p><span class="headsm"><a name="seqpoint">Sequence Pointer Table</a></span></p> | ||
| 197 | <p>First, the Sequence Pointer Table must be set so that sequence 5 begins at address 500. Sequence 5 begins at EEPROM address 10. When the number | ||
| 198 | 500 is split into 2 bytes, the high order byte is 1 and the low order byte is 244 (500 = 1*256 + 244), so the Sequence Pointer Table value starting | ||
| 199 | at address 10 will be</p> | ||
| 200 | <p>@10 = 1<br> | ||
| 201 | @11 = 244</p> | ||
| 202 | <p>The EEW command to write this portion of the Sequence Pointer table is<br> | ||
| 203 | EEW -10, 1, 244</p> | ||
| 204 | <p><span class="headsm"><a name="seqhead">Sequence Header</a></span></p> | ||
| 205 | <p>The sequence header is 3 bytes that specify the sequence number (5), number of servos (2), and number of steps (3). The sequence header begins at | ||
| 206 | EEPROM address 500:</p> | ||
| 207 | <p>@500 = 5<br> | ||
| 208 | @501 = 2<br> | ||
| 209 | @502 = 3</p> | ||
| 210 | <p>The EEW command to write the sequence header is<br> | ||
| 211 | EEW -500, 5, 2, 3</p> | ||
| 212 | <p><span class="headsm"><a name="srvspeed">Servo/Speed List</a></span></p> | ||
| 213 | <p>The servo/speed list has 3 bytes per servo (1 byte servo number, 2 bytes maximum speed). For this sequence, the maximum speeds will be 65535 = | ||
| 214 | 255*256 + 255. The servo/speed list begins immediately after the sequence header, at address 503:</p> | ||
| 215 | <p>@503 = 9<br> | ||
| 216 | @504 = 255<br> | ||
| 217 | @505 = 255<br> | ||
| 218 | @506 = 10<br> | ||
| 219 | @507 = 255<br> | ||
| 220 | @508 = 255</p> | ||
| 221 | <p>The EEW command to write the sequence header is<br> | ||
| 222 | EEW -503, 9, 255, 255, 10, 255, 255</p> | ||
| 223 | <p><span class="headsm"><a name="timepw">Time/Pulse Width List</a></span></p> | ||
| 224 | <p>The time/pulse width list has the servo pulse widths for each step, and the times to move between the steps. The servo pulse widths in this | ||
| 225 | example are</p> | ||
| 226 | <ul> | ||
| 227 | <li>1000 = 3*256 + 232</li> | ||
| 228 | <li>1500 = 5*256 + 220</li> | ||
| 229 | <li>2000 = 7*256 + 208</li> | ||
| 230 | </ul> | ||
| 231 | <p>The move times in this example are</p> | ||
| 232 | <ul> | ||
| 233 | <li>600 = 2*256 + 88</li> | ||
| 234 | <li>1200 = 4*256 + 176</li> | ||
| 235 | <li>2400 = 9*256 + 96</li> | ||
| 236 | </ul> | ||
| 237 | <p>The time/pulse width list begins immediately after the servo/speed list, at address 509:</p> | ||
| 238 | <p>@509 = 9 Step 2 to step 0 time = 2400<br> | ||
| 239 | @510 = 96<br> | ||
| 240 | @511 = 5 Step 0, servo 9 = 1500<br> | ||
| 241 | @512 = 220<br> | ||
| 242 | @513 = 5 Step 0, servo 10 = 1500<br> | ||
| 243 | @514 = 220<br> | ||
| 244 | @515 = 2 Step 0 to step 1 time = 600<br> | ||
| 245 | @516 = 88<br> | ||
| 246 | @517 = 3 Step 1, servo 9 = 1000<br> | ||
| 247 | @518 = 232<br> | ||
| 248 | @519 = 5 Step 1, servo 10 = 1500<br> | ||
| 249 | @520 = 220<br> | ||
| 250 | @521 = 4 Step 1 to step 2 time = 120<br> | ||
| 251 | @522 = 176<br> | ||
| 252 | @523 = 3 Step 2, servo 9 = 1000<br> | ||
| 253 | @524 = 232<br> | ||
| 254 | @525 = 7 Step 2, servo 10 = 2000<br> | ||
| 255 | @526 = 208<br> | ||
| 256 | @527 = 9 Step 2 to step 0 time = 2400<br> | ||
| 257 | @528 = 96</p> | ||
| 258 | <p>The EEW command to write the time/pulse width list is<br> | ||
| 259 | EEW -509, 9,96,5,220,5,220,2,88,3,232,5,220,4,176,3,232,7,208,9,96</p> | ||
| 260 | <hr width="95%" color="#808080"> | ||
| 261 | <p align="center"><span class="headmd"><a name="seqcom">Sequencer Commands</a></span></p> | ||
| 262 | <p>These are the commands that allow you to play programmed sequences. The SSC-32 has two "players" that can each play a sequence. The players | ||
| 263 | may be used simultaneously, and other servo move commands may be sent to the SSC-32 while players are playing.</p> | ||
| 264 | <p>NOTE: Do not simultaneously play two sequences that use some of the same servos. The results will be unpredictable.</p> | ||
| 265 | <p>NOTE: Do not issue servo move commands that use servos in a playing sequence. The results will be unpredictable.</p> | ||
| 266 | <p><span class="headsm"><a name="playstart">Start a player</a></span></p> | ||
| 267 | <p>The following command starts a player playing a specified sequence, with several parameters.</p> | ||
| 268 | <p>(The notation <x> indicates a number that is one of the parameters to the command. The notation "[xxx]" indicates an optional part of | ||
| 269 | the command.)</p> | ||
| 270 | <p>PL <p> SQ <s> [SM <m>] [IX <i>] [PA <pa>] [ONCE]</p> | ||
| 271 | <ul> | ||
| 272 | <li>PL <p> Specifies player p, either 0 or 1</li> | ||
| 273 | <li>SQ <s> Specifies sequence number s, from 0 to 127</li> | ||
| 274 | <li>SM <m> Specifies speed multiplier m, from -200 to 200</li> | ||
| 275 | <li>IX <i> Specifies starting index i (a.k.a. step number), from 0 to 255</li> | ||
| 276 | <li>PA <a> Specifies pause between steps, a, in milliseconds from 0 to 65535</li> | ||
| 277 | <li>ONCE Specifies that the sequence is played only one time</li> | ||
| 278 | </ul> | ||
| 279 | <p>The SM value is a percentage of the speed based on the move times in the programmed sequence. The larger the number the faster the sequence | ||
| 280 | plays, up to 2 times the speed of the programmed sequence (for a speed multiplier of 200%). If the SM value is negative, the sequence is played in | ||
| 281 | reverse. The SM value does NOT affect the maximum speeds for the servos. If SM is not specified, it defaults to 100%.</p> | ||
| 282 | <p>The IX value specifies which step should be first when the sequence is started. The player will attempt to move the servos gradually to the | ||
| 283 | starting position. If IX is not specified, it defaults to 0.</p> | ||
| 284 | <p>The PA value specifies the length of a pause that is inserted between steps in the sequence. The value is in milliseconds. If PA is not | ||
| 285 | specified, it defaults to 0.</p> | ||
| 286 | <p>The ONCE option specifies that the sequence is played only one time, and then the player stops. The servos will start and end at the position | ||
| 287 | specified by the IX parameter (or 0 if IX is not specified). If ONCE is not specified, the sequence will repeat continuously until the player is | ||
| 288 | stopped by a user command.</p> | ||
| 289 | <p><span class="headsm"><a name="playstop">Stop a player</a></span></p> | ||
| 290 | <p>The following command stops a player immediately.</p> | ||
| 291 | <p>PL <p></p> | ||
| 292 | <p><span class="headsm"><a name="playspd">Change the speed of a player</a></span></p> | ||
| 293 | <p>The following command changes the speed of a player. The player must already be playing a sequence for this command to be valid.</p> | ||
| 294 | <p>It is possible to set the speed to 0. In this case, the servos will stop moving but the sequence will still be playing and can be restarted by | ||
| 295 | changing the speed to a non-zero value.</p> | ||
| 296 | <p>PL <p> SM <m></p> | ||
| 297 | <p><span class="headsm"><a name="playpau">Change the pause value of a player</a></span></p> | ||
| 298 | <p>The following command changes the pause value of a player. The player must already be playing a sequence for this command to be valid.</p> | ||
| 299 | <p>PL <p> PA <pa></p> | ||
| 300 | <p><span class="headsm"><a name="gotostep">Go to a step in a sequence</a></span></p> | ||
| 301 | <p>The following command causes a group of servos to move to one of the steps in a sequence. The step number and move time can be optionally | ||
| 302 | specified. This command is equivalent to a normal group move command, except that the servos and maximum speeds are obtained from the specified | ||
| 303 | sequence. The T parameter in this command works exactly like the T parameter in a normal group move command.</p> | ||
| 304 | <p>NOTE: This command is independent of any player, and may be issued even if both players are playing sequences. Like any servo move command, this | ||
| 305 | command should not be used if it will cause servos to move that are part of a currently playing sequence. The results will be unpredictable.</p> | ||
| 306 | <p>SQ <p> [IX <i>] [T <t>]</p> | ||
| 307 | <p><span class="headsm"><a name="playque">Query a player</a></span></p> | ||
| 308 | <p>The following command causes the SSC-32 to return information about the state of a player.</p> | ||
| 309 | <p>QPL <p></p> | ||
| 310 | <p>The QPL command returns 4 bytes of binary information:</p> | ||
| 311 | <ol> | ||
| 312 | <li>The sequence number being played (or 255 if no sequence is being played)</li> | ||
| 313 | <li>The index moving from in the sequence (0 through the maximum step number)</li> | ||
| 314 | <li>The index moving to in the sequence</li> | ||
| 315 | <li>The remaining time in the step, 100ms per bit (e.g. if there are 700ms remaining, the value will be 7)</li> | ||
| 316 | </ol> | ||
| 317 | <hr width="95%" color="#808080"> | ||
| 318 | <p align="center"><span class="headmd"><a name="seqcomex">Examples of Sequencer Commands</a></span></p> | ||
| 319 | <p>Start player 0 playing sequence 5. Start at step 0, 100% forward speed, no pause between steps, play continuously.<br> | ||
| 320 | PL 0 SQ 5</p> | ||
| 321 | <p>Change the speed of player 0 to 50% reverse speed.<br> | ||
| 322 | PL 0 SM -50</p> | ||
| 323 | <p>Pause player 0 (set the speed to 0)<br> | ||
| 324 | PL 0 SM 0</p> | ||
| 325 | <p>Change the speed of player 0 to 200% forward speed.<br> | ||
| 326 | PL 0 SM 200</p> | ||
| 327 | <p>Change the pause between steps for player 0 to 1000ms (1 second).<br> | ||
| 328 | PL 0 PA 1000</p> | ||
| 329 | <p>Stop player 0.<br> | ||
| 330 | PL 0</p> | ||
| 331 | <p>Go to step 3 of sequence 20.<br> | ||
| 332 | SQ 20 IX 3</p> | ||
| 333 | <p>Go to step 5 of sequence 20, taking 2000ms (2 seconds).<br> | ||
| 334 | SQ 20 IX 5 T 2000</p> | ||
| 335 | <p>Start player 1 playing sequence 15. Start at step 2, 70% reverse speed, play one time only.<br> | ||
| 336 | PL 1 SQ 15 IX 2 SM -70 ONCE | ||
| 337 | </p></div> | ||
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5.1 | 338 | </body> |
| 339 | {{/html}} |