MS: Motor Status: 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 read the status of a motor on the expansion bus. This can be an expansion board (with a 2-character address) or a breakout board (with a 3-character address).
Command Syntax¶
MS:<index><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.
Response message¶
If the command is valid the board will send a response message
MS:<index>,<status><cr>
<status>¶
Bit flags for the current motor state MOTOR_STATUS_ON = 0x01 MOTOR_STATUS_REVERSE = 0x02 MOTOR_STATUS_AT_HOME = 0x04 MOTOR_STATUS_AT_LIMIT = 0x08 MOTOR_STATUS_BRAKE = 0x10
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