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Driver Mode F0: Dual Direction Motor

This page describes a mode of operation for a driver. See the Working with Drivers section of the FAST Serial Protocol documentation for details about how to use it.

Motor driver that uses two Drivers for Motor Control (Enable/Direction) e.g. Rudy’s mouth in Funhouse.

DL:<DRIVER_ID>,<TRIGGER>,<SwitchID>,<f0>,<TimeActive>,<PWM><CR>

<DRIVER_ID>

  • FAST Driver number, zero based.

<TRIGGER>

  • Bit 0 Disabled/Enabled(1)

  • Bit 3 Standby/RunMotion(1)

  • Bit 4 Forward/Reverse(1)

<SwitchID>

Not Used

<MODE>

  • 0xF0 = This mode

<TimeMouthMove>

  • Amount of time in mS to run Motor.

<PWM>

See PWM Byte Sequence Table

Rudy FunHouse Driver example:

Setup the Linked driver first. The command below sets driver 0x15 to be a linked Driver (Motor Direction)

DL:15,1,00,ff

This sets the driver to be controlled by a main linked driver. Control is accomplished by the main driver writing to param1 and param2 of the linked driver to control output on/off. Once this command is issued, the driver does not need any further commands sent to it.

Close Mouth for 0x20ms Full Power

DL:14,9,00,f0,20,ff

Open Mouth for 0x20ms Full Power

DL:14,19,00,f0,20,ff

Open Mouth for 0x15ms 50% POWER

DL:14,19,00,f0,15,AA

Issuing a new DL:14,xxxx command while the motor is in operation will cancel the prior action and start moving the motor based on the new instruction.

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