Eddie Command Set Datasheet by Parallax Inc.

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P/RALL X F. controllers, download and use firmware version 1.1, a download and use firmware version 13. Both ted downloads, at www.9arallax.com2eddie
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Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 1 of 15
Eddie Control Board Firmware Command Set
The Eddie Control Board (below, left) is a complete robot controller and sensor-interface solution.
Parallax’s ready-to-go Eddie Control Board firmware, designed for the Eddie Robot Platform (below, right)
provides an easy-to-use serial command interface to control and manage all of the on-board peripheral
electronics such as motor drivers, digital I/O, and analog to digital converter (ADC) channels.
The following document provides a command set summary followed by a detailed description and
example for each command. The command set works with Eddie Robot Platforms outfitted with position
controllers (#27906) or quadrature encoders (#29321). For Eddie Robot Platforms equipped with the
green position controllers, download and use firmware version 1.1, and for those equipped with the blue
quadrature encoders, download and use firmware version 1.3. Both files are available, along with other
Eddie Robot Platform related downloads, at www.parallax.com/eddie.
Table of Contents
Command Set Summary ............................ 2
Communication Protocol ........................... 3
COM Settings ............................................ 3
General Command Form ............................ 3
Command Set Detail .................................. 4
HWVER .................................................... 4
VER ......................................................... 4
VERB ........................................................ 4
WATCH .................................................... 5
BLINK ...................................................... 5
IN ............................................................ 6
OUT ......................................................... 6
LOW ........................................................ 6
HIGH ....................................................... 7
INS .......................................................... 7
OUTS ....................................................... 7
LOWS ....................................................... 8
HIGHS ..................................................... 8
READ ....................................................... 8
SPNG ....................................................... 9
SGP ......................................................... 9
PING ...................................................... 10
ADC ....................................................... 10
GO ........................................................ 11
GOSPD ................................................... 11
STOP ..................................................... 12
TRVL ..................................................... 12
TURN ..................................................... 13
ACC ....................................................... 13
SPD ....................................................... 14
HEAD ..................................................... 14
DIST ...................................................... 15
RST ....................................................... 15
Revision History ..................................... 15
ER ATCH GOSPD
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 2 of 15
Command Set Summary
This table provides a summary of available commands and associated parameters. For detailed
information, see Command Set Detail.
Cmd Input
Parameters Return
Parameters Values Description
Interface
HWVER <version> version = 0..FFFF Get hardware version
VER <version> version = 0..FFFF Get firmware version
VERB <mode> mode = 0(off), 1(on) Set verbose mode
WATCH <mode> mode = 0(off), 1(on) Set watch mode
BLINK <pin><rate> pin = 0..1F
rate = 0..FFFF Toggle pin at a specified rate in increments of
0.1Hz
I/O Control
IN <bitmask> bitmask = 0..7FFFF Set GPIO pins in bitmask to inputs
OUT <bitmask> bitmask = 0..7FFFF Set GPIO pins in bitmask to outputs
LOW <bitmask> bitmask = 0..7FFFF Set GPIO pins in bitmask to low (only applies
to output pins)
HIGH <bitmask> bitmask = 0..7FFFF Set GPIO pins in bitmask to high (only applies
to output pins)
INS <bitmask> bitmask = 0..7FFFF Get GPIO pins currently set as inputs
OUTS <bitmask> bitmask = 0..7FFFF Get GPIO pins currently set as outputs
LOWS <bitmask> bitmask = 0..7FFFF Get GPIO pins currently set as low
HIGHS <bitmask> bitmask = 0..7FFFF Get GPIO pins currently set as high
READ <bitmask> bitmask = 0..7FFFF Get current state (high/low) of all GPIO pins
Sensor Interfacing
SPNG <bitmask> bitmask = 0..FFFF Set pins in bitmask to act as PING))) sensor
pins
SGP <bitmask> bitmask = 0..7FFFF Set pins in bitmask to act as GPIO pins
PING <value1>[<value2>...
<valueN>] value = 0,12..B54 Get PING))) sensor sonar measurements (one
12-bit value per sensor)
ADC <value1>... <value8> value = 0..FFF Get all ADC values (12-bit values)
Motor Control
GO <left><right> left/right = 80..7F Set motor power (signed byte)
GOSPD <left><right> left/right = 8000..7FFF Set motor speed (signed word)
STOP <dist> dist = 0..FFFF Slow to a stop over specified distance
TRVL < dist >< speed > dist = 8000..7FFF
speed = 1..7F or 1..FF Travel a specified distance in a straight line,
ramping up to a maximum specified speed
TURN <angle><speed> angle = 8000..7FFF
speed = 1..7F or 1..FF Rotate in place by a specified angle, ramping
up to a maximum specified speed
ACC <rate> rate = 1..FF or 1..7FF Set rate of acceleration/deceleration
SPD <left><right> left/right = 8000..7FFF Get the current average speed (positions per
second) for both wheels
HEAD <angle> angle = 0..168 (decimal
0..359) Get the current heading (in degrees) relative to
start
DIST <left><right> left/right = 80000000..
7FFFFFFF Get the position of each wheel (signed 32-bit
value) relative to start
RST Reset the distance and heading values to 0
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 3 of 15
Communication Protocol
From an application developer’s standpoint, it is useful to understand the general structure of commands
and the requirements of the communication protocol. When interfacing with the Eddie Control Board
using the firmware discussed in this document, ensure the following format and settings are followed.
COM Settings
The Eddie Control Board communicates over USB; and when connected to a PC, the board enumerates as
a serial COM port. Configure the COM port to use these settings:
115.2 kBaud
8-bit character size
1 stop bit
No parity
General Command Form
All commands adhere to the same general format which is shown below:
Input: <
cmd
>[<WS><
param1
>...<WS><
paramN
>]<CR>
Response (Success): [<
param1
>...<WS><
paramN
>]<CR>
Response (Failure): ERROR[<SP>-<SP><
verbose_reason
>]<CR>
...where:
Sections inside braces [ ] are for one or more optional parameters (as required by the command
or mode).
<
cmd
> is the command mnemonic.
<
param1
> and <
paramN
> are any parameters required by the command. Numbers are always
entered as hex values and are two’s complement whenever the value is signed.
<WS> is one or more white-space characters. Only space (ASCII 32) or tab (ASCII 9) characters
are accepted as whitespace.
<CR> is a single carriage-return character (ASCII 13).
<SP> is a single space character (ASCII 32).
<verbose_reason>
is the optional error message displayed when verbose mode is enabled (see
VERB command).
The range of allowed graphical characters is from ASCII 32 up to ASCII 126 (inclusive). Any non-
graphical characters outside this range with the exception of carriage return (ASCII 13) and tab (ASCII 9)
are treated as invalid characters and are ignored (will not be added to the buffer).
Up to 254 characters may be entered to form a valid command (including the terminating carriage return
character). Any characters entered beyond this limit will be ignored and mark the command as invalid.
The command handler will only process and respond to a command after a carriage return character is
received.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 4 of 15
Command Set Detail
HWVER
Get hardware version.
Syntax
Input HWVER
Response <version>
Parameters: version The hardware version is displayed as four hex characters.
Example:
The hardware version command returns a hexadecimal
value of 2 which represents version 2.
H
WVE
R
0002
VER
Get firmware version.
Syntax
Input VER
Response <version>
Parameters: version The firmware version is displayed as four hex characters.
Example:
The firmware version command returns a hexadecimal
value of A which represents version 10.
V
E
R
000A
VERB
Set verbose mode.
Syntax
Input VERB <mode>
Response
Parameters: mode 0 = Verbose mode off (default); 1 = verbose mode is on.
Details: When verbose mode is on, command input errors will return descriptive text in addition to
the standard command acknowledgement. When verbose mode is off, no descriptive text is
returned.
Example:
With verbose mode off (default) an invalid entry does
not return a text error message. After verbose mode is
turned on, an error message is returned for an invalid
input.
a
kdj
ERROR
VERB 1
akdj
ERROR – Invalid Command
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 5 of 15
WATCH
Set verbose mode.
Syntax
Input WATCH <mode>
Response
Parameters: mode 0 = Watch mode off; 1 = watch mode is on (default).
Details:
When watch mode is on, the Eddie Control Board Firmware will disable motor power if it has
not received data over the serial port for a period of one second or more. When watch
mode is off, the Eddie Control Board Firmware will continue to power the motors when
communications have halted.
Example:
With watch mode on (default) the "GOSPD 20 20"
command will power the motors at 20 positions per half
second for up to one second, then power off the motors
if no further data is received over the serial terminal.
After watch mode is turned off, the same "GOSPD 20
20" command will indefinitely power the motors at 20
positions per half second.
G
OSPD 20 20
WATCH 0
GOSPD 20 20
BLINK
Toggle the specified pin at a specified rate (in increments of 0.1Hz).
Syntax
Input BLINK <pin> <rate>
Response
Parameters:
pin An 8-bit hex value specifying a pin number on the Propeller, from 0 to 18.
rate A 16-bit hex value specifying the blink frequency for the specified pin. This
value is in units of 0.1Hz. A rate of 0 disables blinking functionality.
Details: The blink command can be used to automatically toggle an output pin connected to an LED
or light strip. This can be useful for debugging and when controlling lights or accessories
from the AUX ports. Only affects pins currently set as an output. See OUT
Example:
Toggle pin P16 (16 = hex 10) which connects to AUX A
port. Makes the output LED toggle at a rate of 5 Hz (50
= hex 32).
B
LINK 10 32
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 6 of 15
IN
Set GPIO pins in bitmask to be inputs.
Syntax
Input IN <bitmask>
Response
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ will set the corresponding
GPIO pin to be an input. A bit value of ‘0’ has no effect on the pin mode. By
default all GPIO pins are inputs. Only affects pins currently set as GPIO pins.
See SGP
Example: IN 0003F3C5
Configure pins P0, P2, P6-9, and P12-17 as inputs.
OUT
Set GPIO pins in bitmask to be outputs.
Syntax
Input OUT <bitmask>
Response
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ will set the corresponding
GPIO to be an output. A bit value of ‘0’ has no effect on the pin mode. Only
affects pins currently set as GPIO pins. See SGP
Example: OUT 00040C3A
Configure pins P1, P3-5, P10-11 and P18 as outputs.
LOW
Set GPIO pins in bitmask to drive low (when configured as an output).
Syntax
Input LOW <bitmask>
Response
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ will set the corresponding
GPIO pin to drive low (when configured as an output). A bit value of ‘0’ has no
effect on the pin drive state. By default all GPIO pins are low. Only affects pins
currently set as GPIO pins. See SGP
Example:
LOW 0007DCE0
Drive pins P5-P7, P10-12, and P14-P18 low, when
configured as outputs.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 7 of 15
HIGH
Set GPIO pins in bitmask to drive high (when configured as an output).
Syntax
Input HIGH <bitmask>
Response
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ will set the corresponding
GPIO pin to drive high (when configured as an output). A bit value of ‘0’ has no
effect on the pin drive state. Only affects pins currently set as GPIO pins. See
SGP
Example:
HIGH 0000C31F
Drive pins P0-P4, P8-P9 and P14-P15 high, when
configured as outputs.
INS
Get which GPIO pins are set as inputs.
Syntax
Input INS
Response <bitmask>
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ is returned when the
corresponding GPIO pin is configured as an input pin. A bit value of ‘0’ means
that the pin is either set as an output, or the pin is not configured as a GPIO pin.
Example: INS
0002F3C5
Pins P0, P2, P6-9, P12-15 and P17 are currently
configured as inputs.
OUTS
Get which GPIO pins are set as outputs.
Syntax
Input OUTS
Response <bitmask>
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ is returned when the
corresponding GPIO pin is configured as an output pin. A bit value of ‘0’ means
that the pin is either set as an input, or the pin is not configured as a GPIO pin.
Example: OUTS
00040C3A
Pins P1, P3 -5, P10-11 and P18 are currently as
configured as outputs.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 8 of 15
LOWS
Get which GPIO pins are set to drive output low.
Syntax
Input LOWS
Response <bitmask>
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ is returned when the
corresponding GPIO pin is configured to drive output low. A bit value of ‘0’
means that the pin is either set to drive the output high, or it is not configured as
a GPIO pin.
Example: LOWS
0007DCE0
Pins P5-P7, P10- P12, and P14-P18 are currently set to
drive low, when configured as outputs.
HIGHS
Get which GPIO pins are set to drive output high.
Syntax
Input HIGHS
Response <bitmask>
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ is returned when the
corresponding GPIO pin is configured to drive output high. A bit value of ‘0’
means that the pin is either set to drive output low, or it is not configured as a
GPIO pin.
Example:
Pins P0-P4, P8-P9 and P14-P15 are currently set to drive
high, when configured as outputs.
H
IGHS
0000C31F
READ
Get the logical state of all input pins.
Syntax
Input READ
Response <bitmask>
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ is returned when the
corresponding GPIO pin is configured as an input and its logical state is high. A
bit value of ‘0’ means that the logical state on the pin is either low or not
configured as a GPIO pin.
Example: READ
000001F3
Pins P0-P1 and P4-P8 are GPIO pins in a high state.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 9 of 15
SPNG
Set pins in bitmask to act as PING))) Ultrasonic Sensor pins.
Syntax
Input SPNG <bitmask>
Response
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ will configure the
corresponding pin to be read as a PING))) sensor instead of a GPIO pin. A bit
value of ‘0’ has no effect on the configuration state of the pin.
Details:
If a pin is configured as a PING))) sensor pin, when the PING command is issued, the
controller will send out a pulse to start the measurement, then measure the pulse returned
from the PING))) sensor to calculate the distance value. Only affects pins 0 through 15. At
power on, the default bitmask is hex "3".
Example: SPNG 000003FC
Configure pins P2-P9 to be read as PING))) sensors.
SGP
Set pins in bitmask to act as GPIO pins.
Syntax
Input SGP <bitmask>
Response
Parameters:
bitmask The bitmask is a 32-bit hex value. A bit value of ‘1’ will configure the
corresponding pin to act as a GPIO pin. A bit value of ‘0’ has no effect on the
configuration state of the pin.
Details: Pins configured as GPIO pins can be controlled and read using the I/O control commands
(such as IN, OUT, LOW, HIGH, READ, etc.). Only affects pins 0 through 18.
Example: SGP 000241C0
Configure pins P6-8, P14, P17 as GPIO pins.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 10 of 15
PING
Read PING))) sensors.
Syntax
Input PING
Response <value1>[<value2>...<valueN>]
Parameters: valueN The values returned for each sensor are 12-bit hex values. One measurement
is returned for each pin configured as a PING))) sensor pin.
Details:
The PING command will only initiate a measurement on pins that have been configured as
PING))) sensor pins (see SPNG command). The response includes a measurement for each
active sensor, from lowest pin number to highest, with a range in hex of 12 to B54. There
are 470.2 units per mm or 11942.75 units per inch. Non-functioning sensors, or sensors
with no objects within its range, will respond with a null.
Example: PING
133 3C9 564 0F9 29B 0F0 31A 566
1E0 A97
The distance measurements for the 10 previously
configured PING))) sensor pins.
ADC
Get all Analog to Digital Converter (ADC) values.
Syntax
Input ADC
Response <value1>...<value8>
Parameters:
valueN The values returned for each ADC channel are 12-bit hex values. The possible
range is 0 to FFF, which corresponds to 0.00V up to 5.00V respectively. One
measurement is returned for each of the eight ADC channels. Note that the
highest ADC channel (channel 8) is connected through an on-board voltage
divider to the input supply voltage to the board so it may be used to monitor the
battery voltage.
Details: It is important to note that the Eddie Control Board currently uses a 10-bit ADC so the
accuracy of the two least significant bits is not guaranteed.
Example: ADC
9C7 11E E4E 5AB 20F 97B 767 058
The ADC measurements values for all eight ADC
channels.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 11 of 15
GO
Set motor power (left and right).
Syntax
Input GO <left> <right>
Response
Parameters:
left/right The left and right power levels are entered as signed (two’s complement) 8-bit
hex values. The range of valid values is 81 (full reverse) to 7F (full forward). A
value entered of 80 will be clipped to 81 to maintain symmetry between positive
and negative drive power levels.
Details:
This command sets the motor output PWM ratio, which effectively corresponds to the motor
drive power. The range of values (in decimal terms) is -127 to +127, and corresponds to -
100% to +100% duty cycle ratio respectively. Note that two’s complement signed 8-bit
values typically range from -128 to +127; so to maintain symmetry in the effective drive
power, a value of -128 is clipped to be -127.
Example:
GO 36 BC
Set the left motor power level to a value of 54 and set
the right motor power level to a value of -68.
GOSPD
Set motor speed (left and right).
Syntax
Input GOSPD <left> <right>
Response
Parameters:
left/right The left and right speeds have units of positions per second and are entered as
signed (two’s complement) 16-bit hex values. The range of allowed values is
from 8000 to 7FFF.
Details:
This command sets the drive speed in positions per second. Because it uses
encoder/position feedback for each wheel, the controller can automatically regulate drive
power to each motor in order to maintain the true desired speed. When setting the desired
drive speed, keep in mind that the motors have physical limitations for maximum output
power and top speed, so for this command to operate properly and maintain consistent
speed, values should be chosen which will not exceed the motors’ capabilities.
When transitioning from one set speed to another, the controller will transition gradually
according to the rate of acceleration set by the ACC command.
Example:
GOSPD 2F 2F
Set both motors to drive forward at 47 positions per
second.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 12 of 15
STOP
Slow to a stop over a specified distance
Syntax
Input STOP <distance>
Response
Parameters: distance Stopping distance, in positions, entered as a 16-bit hex value. The range of
allowed values is 0 to FFFF.
Details:
This command will cause the robot to slow to a stop over the specified distance. A value of
zero will immediately stop the robot. At high speeds, low values may cause the robot to
pass the position while processing the command, causing it to overshoot and reverse to
travel back to the desired position. At low speeds the robot may stop before the desired
distance.
Example: STOP 0A
Slow to a stop, over 10 positions.
TRVL
Drive forward by a specified distance (in positions)
Syntax
Input TRVL < distance > <speed>
Response
Parameters:
distance Distance of travel, in positions, entered as a signed (two’s complement) 16-bit
hex value. The range of allowed values is 8000 to 7FFF.
speed Speed, in positions per second, entered as a 16-bit hex value. The range of
allowed values is 1 to 7F with Eddie Robot Platforms equipped with position
controllers and firmware version 1.1, and 1 to FF for those equipped with
quadrature encoders and firmware version 1.3.
Details:
This command will cause the robot to travel along a straight line for the specified distance,
ramping the wheels up to the maximum speed specified in this command. The rate of
acceleration can be specified using the ACC command. The accuracy of the distance and
straightness of travel is affected by the resolution of the wheel encoders, and by any
slippage between the tires and the floor surface.
Example:
Travel in a straight line for 419 positions. Ramp the
speed up to a maximum of 37 positions/second.
T
RVL 1A3 25
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 13 of 15
TURN
Rotate in place by a specified angle (in degrees)
Syntax
Input TURN <angle> <speed>
Response
Parameters:
angle Angle of rotation (in degrees) is entered as a signed (two’s complement) 16-bit
hex value. The range of allowed values is 8000 to 7FFF. Negative values
perform counterclockwise rotation.
speed Speed (in positions per second) is entered as a 16-bit hex value. The range of
allowed values is 1 to 7F with Eddie Robot Platforms equipped with position
controllers and firmware version 1.1, and 1 to FF for those equipped with
quadrature encoders and firmware version 1.3.
Details:
This command will cause the robot to rotate in place the specified number of degrees,
ramping each wheel up to the maximum speed specified in this command. The rate of
acceleration can be specified using the ACC command. The angle is used to calculate the
number of positions to travel for each wheel. The accuracy of the angle rotated is affected
by the resolution of the wheel encoders, and by any slippage between the tires and the floor
surface.
Example:
Rotate the robot in place, counterclockwise, by an angle
of 271 degrees. And ramp the speed up to a maximum
of 75 positions/second.
T
URN FEF1 4B
ACC
Set the rate of acceleration or deceleration.
Syntax
Input ACC <rate>
Response
Parameters:
rate The rate of acceleration (in positions per second per second) is entered as a
16-bit hex value. The range of allowed values is 1 to FF with Eddie Robot
Platforms equipped with position controllers and firmware version 1.1, and 1 to
7FF for those equipped with quadrature encoders and firmware version 1.3.
Details:
The value entered for the rate of acceleration is applied whenever the controller is
transitioning from one desired speed to another. The exception to this is the STOP
command where the rate of deceleration is instead dictated by the stopping distance, and
the GO command where the motors are driven by a power level instead of at a controlled
speed.
Example:
ACC 100
Set the rate of acceleration to 256 positions per second
per second.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 14 of 15
SPD
Get the current average speed for each wheel.
Syntax
Input SPD
Response <left> <right>
Parameters: left/right The current average speed for each wheel (in positions per second) is returned
as a signed (two’s complement) 16-bit hex value.
Details: Speeds are sampled over the previous half second.
Example:
SPD
B5 29
The average speed for the left wheel is 181 positions
per second and for the right wheel is41 positions per
second.
HEAD
Get the current heading relative to start.
Syntax
Input HEAD
Response <heading>
Parameters: heading The current heading (in degrees) is returned as a 12-bit hex value. The valid
range of values is 0 to 360 degrees (or 0 to 168 in hex).
Details:
The current heading will be maintained as a relative angle from the initial heading, or from
whenever the last RST (reset distance and heading) command was issued. The accuracy of
the heading is determined by the resolution of the wheel encoders, and subject to slippage
between the tires and the floor surface.
Example:
HEAD
0F4
The current heading is 244 degrees.
Copyright © Parallax Inc. Eddie Command Set Description v1.2 1/16/2013 Page 15 of 15
DIST
Get the distance of each wheel from the start or reset position.
Syntax
Input DIST
Response <left> <right>
Parameters: left/right The left and right accumulated distance values (as number of positions) are
returned as signed (two’s complement) 32-bit hex values.
Details:
The controller keeps track of how far (in positions) from the origin the wheels have traveled.
Driving forward increases the distance value, and driving reverse decreases the value. The
distance for each wheel can be reset by issuing the RST (reset distance and heading)
command. The accuracy of the distance is determined by the resolution of the wheel
encoders, and is subject to slippage between the tires and the floor surface.
Example:
DIST
5086D72A 00CE838F
The left wheel has travelled 1,351,014,186 and the right
wheel has travelled 13,534,095 positions from the
origin.
RST
Reset distance and heading.
Syntax
Input RST
Response
Details: This command will reset the distance values for both wheels and the heading angle back to
zero.
Example:
RST
Reset the distance values for both wheels and the
heading to zero.
Revision History
Version 1.0: Initial document release.
Version 1.1: Corrected GOSPD description in Command Set Summary. Fixed VERB command name in
General Command Form section. Corrected example usage of HWVER command. Corrected description of
the TRVL command. Clarified BLINK, IN, LOW, READ, and HEAD parameters. Enhanced details
descriptions for VERB, BLINK, SPNG, SGP, PING, HEAD, and DIST commands. Corrected or clarified
Example descriptions in IN, OUT, LOW, INS, OUTS, LOWS, HIGHS, SGP, PING, ADC, GO, GOSPD, TURN,
ACC, SPD, HEAD, DIST, and RST commands.
Version 1.2: Added WATCH command. Added information for firmware version 1.3 and Eddie Robot
Platforms using quadrature encoders. Corrected speed and rate ranges for TRVL, TURN, and ACC
commands and added firmware version 1.3 ranges.

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