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"box" : { "id" : "obj-94", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 713.666666666666629, 143.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-91", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 659.666666666666629, 143.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-92", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "int", "int" ], "patching_rect" : [ 659.666666666666629, 110.0, 73.0, 22.0 ], "text" : "unpack 0 0" } } , { "box" : { "id" : "obj-89", "maxclass" : "toggle", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "int" ], "parameter_enable" : 0, "patching_rect" : [ 844.0, 494.0, 24.0, 24.0 ] } } , { "box" : { "id" : "obj-88", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 844.0, 540.0, 175.0, 22.0 ], "text" : "/enableMotorStatusReport 1 $1" } } , { "box" : { "id" : "obj-87", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 830.0, 416.0, 137.0, 22.0 ], "text" : "/enableBusyReport 1 $1" } } , { "box" : { "id" : "obj-73", "maxclass" : "toggle", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "int" ], "parameter_enable" : 0, "patching_rect" : [ 633.666666666666629, 143.0, 24.0, 24.0 ] } } , { "box" : { "id" : "obj-75", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 579.666666666666629, 143.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-16", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "int", "int" ], "patching_rect" : [ 579.666666666666629, 110.0, 73.0, 22.0 ], "text" : "unpack 0 0" } } , { "box" : { "id" : "obj-79", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 830.0, 627.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-81", "maxclass" : "toggle", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "int" ], "parameter_enable" : 0, "patching_rect" : [ 830.0, 370.0, 24.0, 24.0 ] } } , { "box" : { "id" : "obj-72", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 214.0, 640.0, 150.0, 20.0 ], "text" : "STOP all motions" } } , { "box" : { "id" : "obj-70", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 134.0, 638.0, 78.0, 22.0 ], "text" : "/hardHiZ 255" } } , { "box" : { "id" : "obj-68", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 509.0, 496.5, 279.0, 20.0 ], "text" : "/goToDir command can(must) specify the direction." } } , { "box" : { "id" : "obj-66", "maxclass" : "button", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "bang" ], "parameter_enable" : 0, "patching_rect" : [ 503.0, 548.0, 24.0, 24.0 ] } } , { "box" : { "id" : "obj-60", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 534.666666666666515, 526.0, 55.0, 20.0 ], "text" : "motor ID" } } , { "box" : { "id" : "obj-61", "items" : [ 1, ",", 2, ",", 3, ",", 4, ",", 255 ], "maxclass" : "umenu", "numinlets" : 1, "numoutlets" : 3, "outlettype" : [ "int", "", "" ], "parameter_enable" : 0, "patching_rect" : [ 534.666666666666515, 548.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-59", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 672.0, 548.0, 71.0, 22.0 ] } } , { "box" : { "id" : "obj-57", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 503.0, 615.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-56", "maxclass" : "newobj", "numinlets" : 4, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 503.0, 583.0, 178.0, 22.0 ], "text" : "pack /goToDir 1 0 0" } } , { "box" : { "id" : "obj-48", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 602.0, 610.0, 215.0, 20.0 ], "text" : "/goToDir [motorID] [Direction] [position]" } } , { "box" : { "id" : "obj-52", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 594.666666666666515, 526.0, 56.0, 20.0 ], "text" : "Direction" } } , { "box" : { "id" : "obj-53", "items" : [ "Reverse", ",", "Forward" ], "maxclass" : "umenu", "numinlets" : 1, "numoutlets" : 3, "outlettype" : [ "int", "", "" ], "parameter_enable" : 0, "patching_rect" : [ 594.666666666666515, 548.0, 75.0, 22.0 ] } } , { "box" : { "id" : "obj-84", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 509.0, 421.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-83", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 602.0, 371.0, 85.0, 22.0 ], "text" : "/goTo 1 25600" } } , { "box" : { "id" : "obj-76", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 593.0, 423.0, 150.0, 20.0 ], "text" : "/goTo [motorID] [postion]" } } , { "box" : { "id" : "obj-74", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 509.0, 371.0, 58.0, 22.0 ], "text" : "/goTo 1 0" } } , { "box" : { "id" : "obj-45", "linecount" : 9, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 509.0, 234.0, 461.0, 131.0 ], "text" : "/goTo command produces a motion to the target absolute position through the shortest path. Shortest path? The smallest(-2,097,152) and the largest(2,097,151) absolute positions are next door for the driver chip. So the motion which from the extremely small postion to the exteremely large position could be unexpected motion (I don't think that happen often, though.)\n\nThe GoTo command keeps the BUSY flag low until the target position is reached.\nThis command can be given only when the previous motion command has been completed (BUSY flag released)." } } , { "box" : { "id" : "obj-44", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 144.0, 529.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-28", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 71.0, 504.0, 55.0, 20.0 ], "text" : "motor ID" } } , { "box" : { "id" : "obj-35", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 144.0, 504.0, 41.0, 20.0 ], "text" : "step" } } , { "box" : { "id" : "obj-37", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 134.0, 570.0, 150.0, 20.0 ], "text" : "/move [motorID] [step]" } } , { "box" : { "id" : "obj-39", "maxclass" : "newobj", "numinlets" : 3, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 49.0, 570.0, 84.0, 22.0 ], "text" : "pak /move 1 0" } } , { "box" : { "id" : "obj-41", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 49.0, 603.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-42", "items" : [ 1, ",", 2, ",", 3, ",", 4, ",", 255 ], "maxclass" : "umenu", "numinlets" : 1, "numoutlets" : 3, "outlettype" : [ "int", "", "" ], "parameter_enable" : 0, "patching_rect" : [ 71.0, 529.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-24", "linecount" : 4, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 35.0, 436.0, 457.0, 62.0 ], "text" : "/move command produce a motion of specified steps.\nThis command keeps the BUSY flag low until the target number of steps is performed. \nThis command can only be performed when the motor is stopped." } } , { "box" : { "id" : "obj-23", "linecount" : 4, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 35.0, 234.0, 457.0, 62.0 ], "text" : "/run produces a motion at a specified speed. The speed value shoud be lower than the max speed which specified in /setSpeedProfile command.\nThis command keeps the BUSY flag low until the target speed is reached.\nThis command can be given anytime and is immediately executed." } } , { "box" : { "id" : "obj-20", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 65.0, 290.0, 55.0, 20.0 ], "text" : "motor ID" } } , { "box" : { "id" : "obj-18", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 138.0, 290.0, 41.0, 20.0 ], "text" : "speed" } } , { "box" : { "format" : 6, "id" : "obj-15", "maxclass" : "flonum", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 138.0, 312.0, 66.0, 22.0 ] } } , { "box" : { "id" : "obj-12", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 128.0, 356.0, 150.0, 20.0 ], "text" : "/run [motorID] [speed]" } } , { "box" : { "id" : "obj-10", "maxclass" : "newobj", "numinlets" : 3, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 54.0, 356.0, 75.0, 22.0 ], "text" : "pak /run 1 0." } } , { "box" : { "id" : "obj-9", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 43.0, 389.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-8", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 78.0, 124.0, 55.0, 20.0 ], "text" : "motor ID" } } , { "box" : { "id" : "obj-6", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 87.5, 146.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-13", "items" : [ 1, ",", 2, ",", 3, ",", 4, ",", 255 ], "maxclass" : "umenu", "numinlets" : 1, "numoutlets" : 3, "outlettype" : [ "int", "", "" ], "parameter_enable" : 0, "patching_rect" : [ 65.0, 312.0, 50.0, 22.0 ] } } , { "box" : { "id" : "obj-4", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 4, "outlettype" : [ "int", "float", "float", "float" ], "patching_rect" : [ 332.0, 101.0, 97.0, 22.0 ], "text" : "unpack 0 0. 0. 0." } } , { "box" : { "id" : "obj-3", "maxclass" : "newobj", "numinlets" : 4, "numoutlets" : 4, "outlettype" : [ "", "", "", "" ], "patching_rect" : [ 515.0, 69.0, 213.0, 22.0 ], "text" : "route /speedProfile /busy /motorStatus" } } , { "box" : { "id" : "obj-51", "maxclass" : "newobj", "numinlets" : 0, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 515.0, 37.0, 91.0, 22.0 ], "text" : "r fromSTEP400" } } , { "box" : { "id" : "obj-67", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 35.0, 205.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-49", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 377.0, 175.0, 115.0, 20.0 ], "text" : "get a current setting" } } , { "box" : { "id" : "obj-50", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 268.0, 175.0, 107.0, 22.0 ], "text" : "/getSpeedProfile 1" } } , { "box" : { "id" : "obj-40", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 56.75, 89.0, 35.0, 20.0 ], "text" : "send" } } , { "box" : { "id" : "obj-38", "maxclass" : "button", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "bang" ], "parameter_enable" : 0, "patching_rect" : [ 34.75, 87.0, 24.0, 24.0 ] } } , { "box" : { "id" : "obj-34", "maxclass" : "newobj", "numinlets" : 5, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 35.0, 175.0, 229.0, 22.0 ], "text" : "pack /setSpeedProfile 255 200. 200. 600." } } , { "box" : { "id" : "obj-33", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 171.0, 142.0, 74.0, 20.0 ], "text" : "max speed" } } , { "box" : { "id" : "obj-32", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 297.0, 142.0, 57.0, 20.0 ], "text" : "[step/s]" } } , { "box" : { "id" : "obj-31", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 146.0, 110.0, 74.0, 20.0 ], "text" : "deceleration" } } , { "box" : { "id" : "obj-30", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 268.0, 111.0, 57.0, 20.0 ], "text" : "[step/s/s]" } } , { "box" : { "id" : "obj-29", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 247.0, 83.0, 57.0, 20.0 ], "text" : "[step/s/s]" } } , { "box" : { "id" : "obj-27", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 123.0, 83.0, 73.0, 20.0 ], "text" : "acceleration" } } , { "box" : { "format" : 6, "id" : "obj-25", "maxclass" : "flonum", "maximum" : 15610.0, "minimum" : 15.25, "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 246.0, 141.0, 52.0, 22.0 ] } } , { "box" : { "format" : 6, "id" : "obj-21", "maxclass" : "flonum", "maximum" : 59590.0, "minimum" : 14.550000000000001, "numinlets" : 1, 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"comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 450.0, 117.0, 150.0, 34.0 ], "text" : "The range of ABS_POS:\n-2,097,152 to 2,097,151" } } , { "box" : { "id" : "obj-38", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 541.75, 187.0, 152.0, 20.0 ], "text" : "Set the ASB_POS register." } } , { "box" : { "id" : "obj-37", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 532.0, 270.0, 67.0, 22.0 ], "text" : "/goHome 1" } } , { "box" : { "id" : "obj-36", "linecount" : 3, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 532.0, 220.0, 152.0, 48.0 ], "text" : "Reset ABS_POS register to zero. The zero position is also defined as HOME." } } , { "box" : { "id" : "obj-35", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 461.0, 220.0, 69.0, 22.0 ], "text" : "/resetPos 1" } } , { "box" : { "id" : "obj-33", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 447.0, 158.0, 72.0, 22.0 ] } } , { "box" : { "id" : "obj-31", "linecount" : 4, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 511.0, 50.0, 152.0, 62.0 ], "text" : "Get the ABS_POS register, meaning to get the current motor absolute position." } } , { "box" : { "id" : "obj-29", "items" : [ "Full-step", ",", "Half-step", ",", "1/4", "microstep", ",", "1/8", "microstep", ",", "1/16", "microstep", ",", "1/32", "microstep", ",", "1/64", "microstep", ",", "1/128", "microstep" ], "maxclass" : "umenu", "numinlets" : 1, "numoutlets" : 3, "outlettype" : [ "int", "", "" ], "parameter_enable" : 0, "patching_rect" : [ 503.25, 483.0, 146.0, 22.0 ] } } , { "box" : { "id" : "obj-25", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 410.0, 484.0, 94.0, 20.0 ], "text" : "Microstep mode" } } , { "box" : { "id" : "obj-26", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 503.25, 457.0, 74.0, 22.0 ] } } , { "box" : { "id" : "obj-27", "maxclass" : "number", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "", "bang" ], "parameter_enable" : 0, "patching_rect" : [ 456.25, 457.0, 29.0, 22.0 ] } } , { "box" : { "id" : "obj-28", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 2, "outlettype" : [ "int", "int" ], "patching_rect" : [ 456.25, 433.0, 67.0, 22.0 ], "text" : "unpack 0 0" } } , { "box" : { "id" : "obj-22", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 195.0, 241.0, 121.0, 22.0 ], "text" : "/getMicrostepMode 1" } } , { "box" : { "id" : "obj-21", "linecount" : 2, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 28.0, 149.0, 349.0, 34.0 ], "text" : "This command can specify the size of microstep. 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} , { "patchline" : { "destination" : [ "obj-16", 3 ], "source" : [ "obj-20", 0 ] } } , { "patchline" : { "destination" : [ "obj-34", 3 ], "source" : [ "obj-21", 0 ] } } , { "patchline" : { "destination" : [ "obj-16", 4 ], "source" : [ "obj-22", 0 ] } } , { "patchline" : { "destination" : [ "obj-11", 0 ], "source" : [ "obj-23", 0 ] } } , { "patchline" : { "destination" : [ "obj-22", 0 ], "source" : [ "obj-24", 0 ] } } , { "patchline" : { "destination" : [ "obj-34", 4 ], "source" : [ "obj-25", 0 ] } } , { "patchline" : { "destination" : [ "obj-35", 0 ], "source" : [ "obj-26", 0 ] } } , { "patchline" : { "destination" : [ "obj-43", 0 ], "source" : [ "obj-26", 1 ] } } , { "patchline" : { "destination" : [ "obj-3", 0 ], "source" : [ "obj-34", 0 ] } } , { "patchline" : { "destination" : [ "obj-16", 1 ], "source" : [ "obj-36", 0 ] } } , { "patchline" : { "destination" : [ "obj-24", 0 ], "source" : [ "obj-37", 3 ] } } , { "patchline" : { "destination" : [ "obj-39", 0 ], "source" : [ "obj-37", 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] } } , { "patchline" : { "destination" : [ "obj-49", 0 ], "order" : 1, "source" : [ "obj-48", 0 ] } } , { "patchline" : { "destination" : [ "obj-52", 0 ], "order" : 0, "source" : [ "obj-48", 0 ] } } , { "patchline" : { "destination" : [ "obj-51", 0 ], "source" : [ "obj-49", 0 ] } } , { "patchline" : { "destination" : [ "obj-67", 0 ], "source" : [ "obj-5", 0 ] } } , { "patchline" : { "destination" : [ "obj-46", 0 ], "source" : [ "obj-51", 0 ] } } , { "patchline" : { "destination" : [ "obj-51", 0 ], "source" : [ "obj-52", 0 ] } } , { "patchline" : { "destination" : [ "obj-45", 0 ], "source" : [ "obj-53", 0 ] } } , { "patchline" : { "destination" : [ "obj-10", 0 ], "order" : 1, "source" : [ "obj-54", 0 ] } } , { "patchline" : { "destination" : [ "obj-44", 1 ], "order" : 0, "source" : [ "obj-54", 0 ] } } , { "patchline" : { "destination" : [ "obj-54", 0 ], "source" : [ "obj-57", 0 ] } } , { "patchline" : { "destination" : [ "obj-19", 0 ], "source" : [ "obj-58", 1 ] } } , { "patchline" : { "destination" : [ "obj-21", 0 ], "source" : [ "obj-58", 2 ] } } , { "patchline" : { "destination" : [ "obj-25", 0 ], "source" : [ "obj-58", 3 ] } } , { "patchline" : { "destination" : [ "obj-59", 0 ], "source" : [ "obj-58", 0 ] } } , { "patchline" : { "destination" : [ "obj-34", 1 ], "source" : [ "obj-59", 0 ] } } , { "patchline" : { "destination" : [ "obj-16", 0 ], "source" : [ "obj-60", 0 ] } } , { "patchline" : { "destination" : [ "obj-62", 0 ], "source" : [ "obj-61", 0 ] } } , { "patchline" : { "destination" : [ "obj-63", 0 ], "source" : [ "obj-62", 0 ] } } , { "patchline" : { "destination" : [ "obj-65", 0 ], "source" : [ "obj-63", 0 ] } } , { "patchline" : { "destination" : [ "obj-66", 0 ], "source" : [ "obj-63", 1 ] } } , { "patchline" : { "destination" : [ "obj-10", 0 ], "order" : 1, "source" : [ "obj-65", 0 ] } } , { "patchline" : { "destination" : [ "obj-44", 1 ], "order" : 0, "source" : [ "obj-65", 0 ] } } , { "patchline" : { "destination" : [ "obj-10", 0 ], "order" : 1, "source" : [ "obj-66", 0 ] } } , { "patchline" : { "destination" : [ "obj-44", 1 ], "order" : 0, "source" : [ "obj-66", 0 ] } } , { "patchline" : { "destination" : [ "obj-5", 0 ], "source" : [ "obj-7", 0 ] } } , { "patchline" : { "destination" : [ "obj-23", 1 ], "source" : [ "obj-72", 0 ] } } , { "patchline" : { "destination" : [ "obj-15", 0 ], "source" : [ "obj-77", 0 ] } } , { "patchline" : { "destination" : [ "obj-67", 0 ], "source" : [ "obj-8", 0 ] } } , { "patchline" : { "destination" : [ "obj-13", 0 ], "source" : [ "obj-9", 0 ] } } ] } , "patching_rect" : [ 1035.0, 643.0, 50.0, 22.0 ], "saved_object_attributes" : { "description" : "", "digest" : "", "globalpatchername" : "", "tags" : "" } , "text" : "p Servo" } } , { "box" : { "bubble" : 1, "id" : "obj-94", "linecount" : 2, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 833.5, 203.0, 150.0, 38.0 ], "text" : "255 is a special motor ID, meaning all motors!" } } , { "box" : { "id" : "obj-92", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 762.75, 208.0, 71.0, 22.0 ], "text" : "/goTo 255 0" } } , { "box" : { "id" : "obj-90", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 838.75, 146.0, 85.0, 22.0 ], "text" : "/goTo 4 25600" } } , { "box" : { "id" : "obj-91", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 838.75, 119.0, 58.0, 22.0 ], "text" : "/goTo 4 0" } } , { "box" : { "id" : "obj-87", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 747.5, 239.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-88", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 748.75, 146.0, 85.0, 22.0 ], "text" : "/goTo 1 25600" } } , { "box" : { "id" : "obj-89", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 748.75, 119.0, 58.0, 22.0 ], "text" : "/goTo 1 0" } } , { "box" : { "id" : "obj-86", "linecount" : 2, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 698.25, 83.0, 251.0, 34.0 ], "text" : "The motor ID corresponds with the number printed on STEP400, from 1 to 4." } } , { "box" : { "id" : "obj-84", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 540.0, 415.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-83", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 540.0, 387.0, 88.0, 22.0 ], "text" : "/move 1 25600" } } , { "box" : { "id" : "obj-82", "linecount" : 3, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 540.0, 442.0, 306.5, 48.0 ], "text" : "By default STEP400 divides 1step into 128 microsteps. If you are using a motor with 200 steps per revolution, one revolution will be 200x128=25600 steps." } } , { "box" : { "id" : "obj-76", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 540.0, 338.0, 150.0, 20.0 ], "text" : "/move [motorID] [step]" } } , { "box" : { "id" : "obj-74", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 540.0, 360.0, 92.0, 22.0 ], "text" : "/move 1 -25600" } } , { "box" : { "bgcolor" : [ 1.0, 1.0, 1.0, 1.0 ], "fontface" : 1, "fontsize" : 12.0, "id" : "obj-71", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 690.25, 54.0, 160.0, 20.0 ], "text" : "motor ID" } } , { "box" : { "id" : "obj-68", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 41.0, 445.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "id" : "obj-67", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 41.0, 599.0, 79.0, 22.0 ], "text" : "s toSTEP400" } } , { "box" : { "hidden" : 1, "id" : "obj-61", "maxclass" : "newobj", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 41.0, 38.0, 70.0, 22.0 ], "text" : "loadmess 1" } } , { "box" : { "id" : "obj-60", "linecount" : 2, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 160.75, 415.0, 153.0, 34.0 ], "text" : "stop the motor and disable bridges (no torque)" } } , { "box" : { "id" : "obj-58", "linecount" : 3, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 495.0, 234.0, 150.0, 48.0 ], "text" : "You should get a response here. If not, check a network setting." } } , { "box" : { "id" : "obj-56", "maxclass" : "button", "numinlets" : 1, "numoutlets" : 1, "outlettype" : [ "bang" ], "parameter_enable" : 0, "patching_rect" : [ 370.0, 260.0, 24.0, 24.0 ] } } , { "box" : { "dontreplace" : 1, "id" : "obj-54", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 396.0, 260.0, 97.0, 22.0 ] } } , { "box" : { "id" : "obj-52", "maxclass" : "newobj", "numinlets" : 2, "numoutlets" : 2, "outlettype" : [ "", "" ], "patching_rect" : [ 370.0, 226.0, 75.0, 22.0 ], "text" : "route /destIp" } } , { "box" : { "id" : "obj-51", "maxclass" : "newobj", "numinlets" : 0, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 370.0, 198.0, 91.0, 22.0 ], "text" : "r fromSTEP400" } } , { "box" : { "id" : "obj-49", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 775.5, 655.0, 115.0, 20.0 ], "text" : "get a current setting" } } , { "box" : { "id" : "obj-50", "maxclass" : "message", "numinlets" : 2, "numoutlets" : 1, "outlettype" : [ "" ], "patching_rect" : [ 775.5, 674.0, 107.0, 22.0 ], "text" : "/getSpeedProfile 1" } } , { "box" : { "id" : "obj-48", "linecount" : 8, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 162.5, 293.0, 302.0, 117.0 ], "text" : "/run command generates a stable speed motion. \n\n<- Try some values. This command will rotate the motor connected to the #1 outlet of STEP400.\n\nIf the motor is not turning or is making noises, some more adjustments is requred.\nWrong motor wire connection is also a possbile reason." } } , { "box" : { "id" : "obj-46", "maxclass" : "newobj", "numinlets" : 0, "numoutlets" : 0, "patcher" : { "fileversion" : 1, "appversion" : { "major" : 8, "minor" : 1, "revision" : 6, "architecture" : "x64", "modernui" : 1 } , "classnamespace" : "box", "rect" : [ 0.0, 26.0, 1009.0, 775.0 ], "bglocked" : 0, "openinpresentation" : 0, "default_fontsize" : 12.0, "default_fontface" : 0, "default_fontname" : "Arial", "gridonopen" : 1, "gridsize" : [ 15.0, 15.0 ], "gridsnaponopen" : 1, "objectsnaponopen" : 1, "statusbarvisible" : 2, "toolbarvisible" : 1, "lefttoolbarpinned" : 0, "toptoolbarpinned" : 0, "righttoolbarpinned" : 0, "bottomtoolbarpinned" : 0, "toolbars_unpinned_last_save" : 0, "tallnewobj" : 0, "boxanimatetime" : 200, "enablehscroll" : 1, "enablevscroll" : 1, "devicewidth" : 0.0, "description" : "", "digest" : "", "tags" : "", "style" : "", "subpatcher_template" : "", "showontab" : 2, "assistshowspatchername" : 0, "boxes" : [ { "box" : { "id" : "obj-93", "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 511.200000000000045, 643.0, 338.0, 20.0 ], "text" : "Get the current BEMF setting" } } , { "box" : { "id" : "obj-92", "linecount" : 3, "maxclass" : "comment", "numinlets" : 1, "numoutlets" : 0, "patching_rect" : [ 407.799999999999955, 494.0, 396.0, 48.0 ], "text" : "These values could be important to acquire the smooth motion in both low and high speed. These values can calculate with the tool from STMicroelectronics. See STEP400 documents for details. 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