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add #85

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866b1c5
Merge pull request #82 from elephantrobotics/demo_add_en
TheFive666 Aug 30, 2024
57500f7
320 Port transponder revise
Sep 9, 2024
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93 changes: 47 additions & 46 deletions 6-SDKDevelopment/6.1-CommunicationDoc.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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.*

Expand Down Expand Up @@ -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 |
Expand All @@ -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

******

Expand All @@ -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

Expand All @@ -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

Expand Down Expand Up @@ -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 |

Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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

Expand All @@ -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 |
Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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:

Expand All @@ -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

Expand Down Expand Up @@ -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 |
Expand Down Expand Up @@ -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 |
Expand All @@ -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:

Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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

Expand All @@ -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

Expand Down Expand Up @@ -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 |
Expand Down Expand Up @@ -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

Expand All @@ -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

Expand Down Expand Up @@ -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 |
Expand Down Expand Up @@ -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 |

Expand All @@ -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 |
Expand Down Expand Up @@ -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

Expand Down Expand Up @@ -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 |
Expand Down Expand Up @@ -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 |
Expand All @@ -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

******

Expand All @@ -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

Expand Down Expand Up @@ -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

Expand All @@ -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 |
Expand All @@ -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.*

Expand Down Expand Up @@ -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.*

Expand Down Expand Up @@ -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

Expand Down
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