Daisy chaining – Pololu Simple User Manual
Page 86
_______________ | | | | | | | | | |
1 1 0 1 1 0 0 0 | | | | | | |
1 0 0 0 1 0 0 1 | | | | | | |
_______________ | | | | | | |
1 0 1 0 0 0 1 0 | | | | | |
1 0 0 0 1 0 0 1 | | | | | |
_______________ | | | | | |
1 0 1 0 1 1 0 0 | | | |
1 0 0 0 1 0 0 1 | | | |
_______________ | | | |
1 0 0 1 0 1 0 0 | |
1 0 0 0 1 0 0 1 | |
_______________ | |
1 1 1 0 1 0 0 = 0x17
So the full command packet we would send with CRC enabled is: 0x83, 0x01, 0x17.
6.6. Daisy Chaining
This section is a guide to integrating the Simple Motor Controller in to a project that has multiple TTL serial devices
that use a compatible protocol.
First of all, you will need to decide whether to use the Pololu protocol, the Mini SSC protocol, or a mix of both (see
). You must make sure that no serial command you send will cause unintended operations on the devices it
was not addressed to. If you want to daisy chain several Simple Motor Controllers together, you can use a mixture of
both protocols. If you want to daisy chain the Simple Motor Controller with other devices that use the Pololu protocol,
you can use the Pololu protocol. If you want to daisy chain the Simple Motor Controller with other devices that use
the Mini SSC protocol, you can use the Mini SSC protocol.
Secondly, assign each device in the project a different device number so that they can be individually addressed by
your serial commands. For the Simple Motor Controller, this can be done in the Input Settings tab of the Simple Motor
Control Center.
The following diagram shows how to connect one master and many slave devices together into a chain. Each of the
devices may be a Simple Motor controller or any other device, such as a
or other microcontroller.
Daisy chaining serial devices using the Pololu
protocol. An optional AND gate is used to join
multiple TX lines.
The Simple Motor Controller has a special input called TXIN that eliminates the need for an external AND gate (the
AND gate is built in to the Simple Motor Controller.) To make a chain of devices using the TXIN input, connect them
like this:
Pololu Simple Motor Controller User's Guide
© 2001–2014 Pololu Corporation
6. Using the Serial Interface
Page 86 of 101