NT Motor&Encoder Module CLI
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Accessing the CLI of a NT motor&encoder module requires using a standard terminal program, such as HTerm.
It can be done in two ways:
- Direkt Connection: The NT motor module is connected on its NT port directly to a PC via a USB-TTL adapter, pretty much as one would do for Live Recording, except that now both the Tx and Rx lines need to be connected to the USB-TTL adapter. In the terminal program the baud rate must be set to 2000000 bps.
- Via STorM32 Main Board: In this configuration, a STorM32 main board is used, so to say, as USB-TTL adapter. The NT motor module is connected to the STorM32 main board via the NT bus, as for normal operation. The STorM32 main board is connected to a PC, typically via the main board's USB port. The STorM32 main board has first to be put into a pass-through mode by sending the special command "xQTNTQMODE0X" to it, where X = 4 for accessing the pitch NT motor module, X = 5 for roll, and X = 6 for yaw. The STorM32 board then works as tunnel connecting the PC with the selected NT module. In the terminal program the baud rate is typically set to 115200 bps.
| CLI command | effect |
|---|---|
| rrange; | run the encoder range test sequence |
| rpp; | run the motor pole pairs determination sequence |
| rofs; | run the motor offset determination sequence |
| reval; | run the display encoder raw values sequence, send a character to stop it |
| getcal; | display the current pole pair and offset settings |
| clrpp; | set the current pole pairs to zero |
| clrofs; | set the current offset to zero |
| setpp X; | set the current pole pairs to the given value |
| setofs X; | set the current poffset to the given value |
| retrieve; | retrieve module settings from EEPROM |
| store; | store module settings into EEPROM |
| getsetup; | display current module settings |
| clrsetup; | set current module settings to default |
| setidpitch; | set the module's ID to pitch (ID = 4) |
| setidroll; | set the module's ID to roll (ID = 5) |
| setidyaw; | set the module's ID to yaw (ID = 6) |
| clrid; | set the module's ID to ID = 0 |
| r4; | run the torque cogging sequence |
| getdt; | display the determined time constants |
| r5; | run the speed sequence |
| getspeed; | display the determined speed constants |
| streamX; | enable stream at rate X, X = 1,2,3,4 |
| @Q | resets main board and module |
| RESTART | restarts QMODE |