320 Port transponder revise

elephantrobotics · Sep 9, 2024 · 57500f7 · 57500f7
1 parent 866b1c5
commit 57500f7
Showing 1 changed file with 47 additions and 46 deletions.
diff --git a/6-SDKDevelopment/6.1-CommunicationDoc.md b/6-SDKDevelopment/6.1-CommunicationDoc.md
@@ -436,7 +436,7 @@ temp = x_low + x_high*256
 
 x coordinate =（temp\33000 ?(temp – 65536) : temp)/10
 
-*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 100; if temp is less than 33000, then temp is divided by 100 directly.*
+*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 10; if temp is less than 33000, then temp is divided by 10 directly.*
 
 *y coordinate is counted in a similar way.*
 
@@ -586,7 +586,7 @@ Return value: data structure
 | ------- | -------------------- | --------- |
 | Data[0] | identification frame | 0XFE      |
 | Data[1] | identification frame | 0XFE      |
-| Data[2] | data-length frame    | 0X02      |
+| Data[2] | data-length frame    | 0X03      |
 | Data[3] | command frame        | 0X27      |
 | Data[4] | suspend/not suspend  | 0X01/0X00 |
 | Data[5] | end frame            | 0XFA      |
@@ -595,7 +595,7 @@ Example:
 
 Given that program suspends,
 
-port return value: FE FE 03 12 01 FA
+port return value: FE FE 03 27 01 FA
 
 ******
 
@@ -606,13 +606,13 @@ port return value: FE FE 03 12 01 FA
 | Data[0] | identification frame | 0XFE      |
 | Data[1] | identification frame | 0XFE      |
 | Data[2] | data-length frame    | 0X02      |
-| Data[3] | command frame        | 0X27      |
+| Data[3] | command frame        | 0X28      |
 | Data[4] | suspend/not suspend  | 0X01/0X00 |
 | Data[5] | end frame            | 0XFA      |
 
 Example:
 
-Port transmission: FE FE 02 26 FA
+Port transmission: FE FE 02 28 FA
 
 no return value
 
@@ -630,7 +630,7 @@ no return value
 
 Example:
 
-Port transmission: FE FE 02 26 FA
+Port transmission: FE FE 02 29 FA
 
 no return value
 
@@ -700,7 +700,7 @@ Return Value: data structure
 | Data[0] | return value: head frame                  | 0XFE      |
 | Data[1] | return value: head frame                  | 0XFE      |
 | Data[2] | return value: data-length frame           | 0X03      |
-| Data[3] | return value: command frame               | 0X2a      |
+| Data[3] | return value: command frame               | 0X2A      |
 | Data[4] | reaching the point/not reaching the point | 0X01/0X00 |
 | Data[5] | end frame                                 | 0XFA      |
 
@@ -790,7 +790,7 @@ no return value.
 
 Example:
 
-Given that No.1 steering gear moves to 45° at the speed of 20
+Given that No.1 steering gear moves to 45° at the speed of 20%
 
 port transmission: FE FE 06 31 01 11 94 14 FA
 
@@ -825,7 +825,7 @@ Example:
 
 Given that robotic arm moves towards x coordinate at the speed of 20
 
-port transmission: FE FE 06 32 01 01 14 FA
+port transmission: FE FE 05 32 01 01 14 FA
 
 axis ranges from 1 to 6, representing x, y, z,rx, ry, rz
 
@@ -842,7 +842,7 @@ no return value
 | Data[0] | identification frame               | 0XFE       |
 | Data[1] | identification frame               | 0XFE       |
 | Data[2] | data-length frame                  | 0X06       |
-| Data[3] | command frame                      | 0X31       |
+| Data[3] | command frame                      | 0X33       |
 | Data[4] | serial number of steering gear     | Joint      |
 | Data[5] | highbyte of angle of steering gear | Angle_high |
 | Data[6] | lowbyte of angle of steering gear  | Angle_low  |
@@ -937,7 +937,7 @@ no return value
 | Data[4] | serial number of joint | joint |
 | Data[5] | end frame              | 0XFA  |
 
-Example:
+Example:FE FE 03 3B 02 FA
 
 get the potential of NO.2 steering gear
 
@@ -1098,7 +1098,7 @@ Example:
 
 Given that all robotic arms are set in zero position,
 
-port return value: FE FE 0E 3D 08 00 08 00 08 00 08 00 08 00 08 00 FA
+port return value: FE FE 0E 3D 00 00 00 00 00 00 00 00 00 00 00 00 FA
 
 How potentials are counted:
 
@@ -1118,7 +1118,7 @@ potential = low status of potential + high status of potential * 256
 
 Example:
 
-Port transmission: FE FE 02 3D FA
+Port transmission: FE FE 02 40 FA
 
 Return value: data structure
 
@@ -1185,7 +1185,7 @@ Return value: data structure
 | ------- | ---------------------------------- | ------------ |
 | Data[0] | return value: identification frame | 0XFE         |
 | Data[1] | return value: identification frame | 0XFE         |
-| Data[2] | return value: data-length frame    | 0X04         |
+| Data[2] | return value: data-length frame    | 0X05         |
 | Data[3] | return value: command frame        | 0X4A         |
 | Data[4] | serial number of joint             | Joint_number |
 | Data[5] | high angle of steering gear        | Angle_high   |
@@ -1231,7 +1231,7 @@ Return value: data structure
 | ------- | ---------------------------------- | ------------ |
 | Data[0] | return value: identification frame | 0XFE         |
 | Data[1] | return value: identification frame | 0XFE         |
-| Data[2] | return value: data-length frame    | 0X04         |
+| Data[2] | return value: data-length frame    | 0X05         |
 | Data[3] | return value: command frame        | 0X4B         |
 | Data[4] | serial number of joint             | Joint_number |
 | Data[5] | high angle of steering gear        | Angle_high   |
@@ -1240,7 +1240,7 @@ Return value: data structure
 
 Example:
 
-port return value: FE FE 05 4B 02 06 72 FA
+port return value: FE FE 05 4B 02 F9 F2 FA
 
 How the largest angles are counted:
 
@@ -1271,7 +1271,7 @@ Given that the smallest angle of joint 2 is 0
 
 Serial number of joint ranges from 1 to 6
 
-port return value: FE FE 03 41 32 FA
+port return value: FE FE 03 4C 32 FA
 
 data type of angle1_high: byte
 
@@ -1306,7 +1306,7 @@ Given that the largest angle of joint 2 is 45
 
 Serial number of joint ranges from 1 to 6
 
-port return value: FE FE 03 41 32 FA
+port return value: FE FE 03 4D 32 FA
 
 data type of angle1_high: byte
 
@@ -1316,7 +1316,7 @@ data type of angle1_low: byte
 
 counting method: angleis multiplied by 100 and converted into integral form to get the hexadecimal lowbyte
 
-Port transmission: FE FE 05 4C 02 11 94 FA
+Port transmission: FE FE 05 4D 02 11 94 FA
 
 no return value
 
@@ -1347,7 +1347,7 @@ Return value: data structure
 | ------- | ---------------------------------- | ------------ |
 | Data[0] | return value: identification frame | 0XFE         |
 | Data[1] | return value: identification frame | 0XFE         |
-| Data[2] | return value: data-length frame    | 0X03         |
+| Data[2] | return value: data-length frame    | 0X04         |
 | Data[3] | command frame                      | 0X50         |
 | Data[4] | serial number of joint             | Joint_number |
 | Data[5] | connected/not connected            | 0X01/0X00    |
@@ -1408,7 +1408,7 @@ Example:
 
 Reading ratio parameter of P position of No.1 steering gear
 
-Port transmission: FE FE 03 51 01 FA
+Port transmission: FE FE 03 53 01 FA
 
 Serial number of joint ranges from 1 to 6
 
@@ -1435,21 +1435,22 @@ Return value: data structure
 
 ### Setting Servo Parameters
 
-| Domain  | Explanation            | Data     |
-| ------- | ---------------------- | -------- |
-| Data[0] | identification frame   | 0XFE     |
-| Data[1] | identification frame   | 0XFE     |
-| Data[2] | data-length frame      | 0X05     |
-| Data[3] | command frame          | 0X52     |
-| Data[4] | serial number of joint | Joint_no |
-| Data[5] | data address           | data_id  |
-| Data[6] | end frame              | 0XFA     |
+| Domain  | Explanation            | Data                 |
+| ------- | :--------------------- | :------------------- |
+| Data[0] | identification frame   | 0XFE                 |
+| Data[1] | identification frame   | 0XFE                 |
+| Data[2] | data-length frame      | 0X05                 |
+| Data[3] | command frame          | 0X52                 |
+| Data[4] | serial number of joint | Joint_no             |
+| Data[5] | data address           | data_id              |
+| Data[6] | parameter              | view the table below |
+| Data[7] | end frame              | 0XFA                 |
 
 Example:
 
 Reading ratio parameter of P position of No.1 steering gear
 
-Port transmission: FE FE 05 52 01 15 01 FA
+Port transmission: FE FE 04 52 01 15 01 FA
 
 Serial number of joint ranges from 1 to 6
 
@@ -1496,7 +1497,7 @@ no return value
 | ------- | ---------------------- | -------- |
 | Data[0] | identification frame   | 0XFE     |
 | Data[1] | identification frame   | 0XFE     |
-| Data[2] | data-length frame      | 0X02     |
+| Data[2] | data-length frame      | 0X03     |
 | Data[3] | command frame          | 0X55     |
 | Data[4] | serial number of joint | Joint_no |
 | Data[5] | end frame              | 0XFA     |
@@ -1611,8 +1612,8 @@ no return value
 | ------- | -------------------- | ------ |
 | Data[0] | identification frame | 0XFE   |
 | Data[1] | identification frame | 0XFE   |
-| Data[2] | data-length frame    | 0X04   |
-| Data[3] | command frame        | 0X61   |
+| Data[2] | data-length frame    | 0X03   |
+| Data[3] | command frame        | 0X62   |
 | Data[4] | serial number of pin | pin_no |
 | Data[5] | end frame            | 0XFA   |
 
@@ -1628,8 +1629,8 @@ Return value: data structure
 | ------- | ---------------------------------- | --------- |
 | Data[0] | return value: identification frame | 0XFE      |
 | Data[1] | return value: identification frame | 0XFE      |
-| Data[2] | return value: data-length frame    | 0X03      |
-| Data[3] | return value: command frame        | 0X53      |
+| Data[2] | return value: data-length frame    | 0X04      |
+| Data[3] | return value: command frame        | 0X62      |
 | Data[4] | pin number                         | pin_no    |
 | Data[5] | signal of electrical level         | 0X00/0X01 |
 | Data[6] | end frame                          | 0XFA      |
@@ -1715,7 +1716,7 @@ no return value
 
 Example:
 
-Given that gripper opens by 50% at the speed of 30
+Given that gripper opens by 50% at the speed of 20
 
 Port transmission: FE FE 04 67 32 14 FA
 
@@ -1759,7 +1760,7 @@ Return value: data structure
 | ------- | -------------------- | ----- |
 | Data[0] | identification frame | 0XFE  |
 | Data[1] | identification frame | 0XFE  |
-| Data[2] | data-length frame    | 0X04  |
+| Data[2] | data-length frame    | 0X03  |
 | Data[3] | command frame        | 0X69  |
 | Data[4] | stop/move            | 00/01 |
 | Data[6] | end frame            | 0XFA  |
@@ -1800,7 +1801,7 @@ no return value
 | Data[0] | identification frame       | 0XFE      |
 | Data[1] | identification frame       | 0XFE      |
 | Data[2] | data-length frame          | 0X04      |
-| Data[3] | command frame              | 0Xa0      |
+| Data[3] | command frame              | 0XA0      |
 | Data[4] | pin number                 | Pin_no    |
 | Data[5] | signal of electrical level | 0X00/0X01 |
 | Data[4] | end frame                  | 0XFA      |
@@ -1809,7 +1810,7 @@ Example:
 
 Setting high electrical level of pin 2
 
-Port transmission: FE FE 02 a0 02 01 FA
+Port transmission: FE FE 04 A0 02 01 FA
 
 ******
 
@@ -1824,7 +1825,7 @@ Port transmission: FE FE 02 a0 02 01 FA
 | Data[4] | pin number           | Pin_no |
 | Data[4] | end frame            | 0XFA   |
 
-Port transmission: FE FE 02 a0 02 01 FA
+Port transmission: FE FE 04 a1 02 01 FA
 
 Return value: data structure
 
@@ -1938,7 +1939,7 @@ no return value
 
 Example:
 
-Port transmission: FE FE 04 b2 1b 58 FA
+Port transmission: FE FE 02 82 FA
 
 Return value: data structure
 
@@ -1947,7 +1948,7 @@ Return value: data structure
 | Data[0]  | identification frame                 | 0XFE    |
 | Data[1]  | identification frame                 | 0XFE    |
 | Data[2]  | data-length frame                    | 0X0E    |
-| Data[3]  | command frame                        | 0X81    |
+| Data[3]  | command frame                        | 0X82    |
 | Data[4]  | specify high status of x coordinate  | x_high  |
 | Data[5]  | specify low status of x coordinate   | x_low   |
 | Data[6]  | specify high status of y coordinate  | y_high  |
@@ -1970,7 +1971,7 @@ temp = x_low + x_high*256
 
 x coordinate =（temp\33000 ?(temp – 65536) : temp)/10
 
-*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 100; if temp is less than 33000, then temp is divided by 100 directly.*
+*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 10; if temp is less than 33000, then temp is divided by 10 directly.*
 
 *y coordinate is counted in a similar way.*
 
@@ -2016,7 +2017,7 @@ temp = x_low + x_high*256
 
 x coordinate =（temp\33000 ?(temp – 65536) : temp)/10
 
-*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 100; if temp is less than 33000, then temp is divided by 100 directly.*
+*Explanation: if temp is greater than 33000, temp minus 65536, and then is divided by 10; if temp is less than 33000, then temp is divided by 10 directly.*
 
 *y coordinate is counted in a similar way.*
 
@@ -2132,7 +2133,7 @@ Return value: data structure
 
 Example:
 
-port return value: FE FE 03 86 01 FA
+port return value: FE FE 03 8A 01 FA
 
 ## Appendix