Pololu Simple - Manual (Page 76)

putting an “H” at the end of the number. If the argument brake_amount is outside the allowed range, a Serial
Format Error occurs.
Error. Examples: The following commands all make the motor brake as hard as possible:
◦ “B32<CR>”
◦ “B100%<CR>”
◦ “B20H<CR>”
Get Variable (any input mode)
Command Format: “D< variable_id ><CR>”
Description: This command lets you read a variable from the Simple Motor Controller. See Section 6.4 for a
list of all of available variables. The value of the requested variable is transmitted as an ASCII-encoded decimal
number. If the argument
variable_id
is between 41 and 127, a Serial Format Error occurs.
Example: The following commands both request the board temperature (variable ID 24, or 0x18):
◦ “D24<CR>”
◦ “D18H<CR>”
We might receive “.286<CR><LF>” as a response. The leading ‘.’ is a status character that indicates the last
command was understood and no errors are currently stopping the motors. The rest of the characters before
the carriage return (<CR>) and new line (<LF>) characters are an ASCII representation of a decimal (base 10)
number. This particular variable has units of 0.1 °C, which would mean that the board temperature is 28.6 °C.
Set Motor Limit(any input mode)
Command Format: “L< limit_id >,< limit_value ><CR>”
Description: This command lets you change the temporary motor limit variables documented in Section 6.4 .
Limit IDs from 0 to 3 are affect both forward and reverse limits equally (they are “symmetric”). Limit IDs from 4
to 7 affect only forward limits and limit IDs from 8 to 11 affect only reverse limits. The following table provides
the limit IDs for all of the temporary motor limit variables along with the allowed limit values:
Pololu Simple Motor Controller User's Guide © 2001–2014 Pololu Corporation
6. Using the Serial Interface Page 76 of 101