Pololu Orangutan X2 User Manual
Orangutan x2 command documentation v1.01
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Table of contents
Document Outline
- Orangutan X2 Command Documentation v1.01
- 1. Overview
- 2. ATmega644 SPI Configuration
- 3. Low-Level SPI Commands
- 3.a. Motor Commands
- 3.a.01. Command 214: Set Motor Mode
- 3.a.02. Command 128: Independent Motor Brake (inB = inA)
- 3.a.03. Command 136: Independent Motor Drive (inB = ~inA)
- 3.a.04. Command 232: Independent Motor Drive with Acceleration (inB = ~inA)
- 3.a.05. Command 144: Joint Motor Operation (inA1 = inB1 = in1; inA2 = inB2 = in2)
- 3.a.06. Command 228: Joint Motor Drive with Acceleration (in2 = ~in1)
- 3.a.07. Command 208: Set Acceleration
- 3.a.08. Command 188: Set Brake Duration
- 3.a.09. Command 212: Set Number of Current Sense Samples in Averages
- 3.a.10. Command 192: Set Current Limit
- 3.a.11. Command 210: Set Motor PWM Frequencies
- 3.a.12. Command 216: Get Average Motor Current
- 3.b. Buzzer Commands
- 3.c. UART Commands
- 3.d. Miscellaneous Commands
- 3.a. Motor Commands
- 4. Attention and SPI Pins
- 5. ATmega168's EEPROM Addresses