MP: Motor Position: EXP Bus Protocol Reference¶
Understanding EXP board addressing
This command is used with FAST Expansion and FAST breakout boards via a FAST Serial Protocol (FSP) connection to the EXP Bus. Please read the EXP Overview to understand the operation of these commands and addresses.
This command is used to run a motor on the expansion bus to this specified position. This requires either a servo motor or motor equipped with an encoder allowing the position to be determined. This can be an expansion board (with a 2-character address) or a breakout board (with a 3-character address).
Command Syntax¶
MP:<index>,<position>,<time_ms><cr>
<index>¶
This is the motor number you want to update. Individual motors are accessed numbered 0-31 (hex 00 - 1F) since that's the maximum number of motors that can be attached to a single breakout board.
<position>¶
Target position for the motor from 0-255 (00 - FF hex). On servo motors controlled using a timed pulse, 0x00 corresponds to the minimum pulse time, 0x80 to the neutral, and 0xFF to the max. Other values will be interpolated between these.
<time_ms>¶
How long will the motor be powered in milliseconds, ranging from 0-65535 (0000 - FFFF hex), after this it may move from the target position if there is load on the motor.
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