Diagnostic Protocol

The following command set is intended for debugging and diagnostics. It can be entered from tview or the --console mode of multiplex_tool or moteus_tool.

d - board debug

d stop

This causes the controller to enter the "stopped" state, which disables the motor driver.

d raw

This enters the "raw" PWM mode. Syntax:

d raw <pwm_a> <pwm_b> <pwm_c>

Where the pwm values are between 0.0 and 1.0. A command to the idle state is thus: d raw 0.5 0.5 0.5.

d pwm

This enters voltage-FOC mode. Syntax:

d pwm <phase> <magnitude> [<phase_rate>]

Where phase is in radians, magnitude is in volts, and the optional phase rate is in radians per second.

d dq

This enters the current controlled FOC mode. Syntax:

d dq <d_A> <q_A>

d pos

This enters the position control FOC mode. Syntax:

d pos <pos> <vel> <max_torque> [options...]

Each optional element consists of a prefix character followed by a value. Permissible options are:

• p - kp scale: the configured kp value is multiplied by this constant for the duration of this command
• d - kd scale: the configured kd value is multiplied by this constant for the duration of this command
• i - ki ilimit scale: the configured ilimit value is multiplied by this constant for the duration of this command
• s - stop position: when a non-zero velocity is given, motion stops when the control position reaches this value.
• f - feedforward torque in Nm
• t - timeout: If another command is not received in this many seconds, enter the timeout mode.
• v - velocity limit: the given value will override the global velocity limit for the duration of this command.
• a - acceleration limit: the given value will override the global acceleration limit for the duration of this command.
• o - fixed voltage override: while in affect, treat the control as if fixed_voltage_mode were enabled with the given voltage
• c - fixed current override: while in affect, treat the control like fixed_voltage_mode, but instead commanding a fixed current.
• b - if non-zero, then ignore all servopos position bounds

The position, velocity, maximum torque, and all optional fields have the same semantics as for the register protocol documented above.

d tmt

Enter the timeout mode. This mode commands a zero velocity and can only be exited through the stopped state.

d tmt <pos> <vel> <max_torque> [options...]

Available options are identical to d pos.

d zero

Enter the zero velocity state. A zero velocity is commanded regardless of position.

d zero <pos> <vel> <max_torque> [options...]

Available options are identical to d pos. pos and vel are ignored.

d within

Enter the "stay within" state. When the position is contained within the given bounds, only the feedforward torque is applied. Otherwise, the position mode controller is used to hold the position at the violated boundary.

d within <lowbound> <highbound> <max_torque> [options...]

The fields have the same semantics as for the register protocol documented above. The options are largely the same as for d pos. Unsupported options include:

• s - stop position
• o - fixed voltage override
• c - fixed current override

d brake

Enter the "brake" state. In this mode, all motor phases are shorted to ground, resulting in a passive "braking" action.

d nearest

Update the current position to the closest one which is consistent with a given output position.

d rezero <position>

d exact

Update the current position to exactly the given value.

d exact <position>

d req-reindex

Reset the homing state to relative based, requiring any homing procedure to be re-run.

d req-reindex

d recapture

When in position mode, reset the control position and velocity to the currently sensed values.

d recapture

d cfg-set-output

Modify the configuration as required so that the current observed position will be equal to the given value. Note, the configuration is not written to persistent storage.

d cfg-set-output <position>

d cal

INTERNAL moteus_tool USE ONLY: Enter the encoder calibration mode. Upon starting this command, the controller will spin the motor in voltage-FOC mode until the encoder covers a full revolution, then repeat the process in the other direction. During the process, the current commanded phase and encoder value are periodically emitted to the console.

Syntax:

d cal <magnitude> [options...]

Each optional element consists of a prefix character followed by a value. Permissible options are:

• s - calibration speed in electrical revolutions per second

NOTE: This command is for internal moteus_tool use only. It performs only part of the calibration process, and saves nothing to the persistent storage.

d flash

Enter the bootloader.

NOTE: This is only intended for internal use. Users who want to flash new firmware should use moteus_tool.

aux[12] - Aux port manipulation

All commands are supported on both aux1 and aux2.

aux1 out - Set GPIO Output Values

aux1 out <data>

'data' is a single decimal integer. Only bits associated with pins configured as digital outputs are used, the remainder are ignored.

aux1 pwm - Set PWM Output Values

aux1 pwm <pin> <value>

'pin' is a number from 0 to 4 that gives the pin to set.

'value' is a floating point value between 0.0 and 1.0 that gives the output duty cycle for the pin.

aux1 ic-cmd - Initiate an iC-PZ command

aux1 ic-cmd <HEXBYTE>

An example of entering analog mode calibration.

aux1 ic-cmd B0

aux1 ic-wr - Write iC-PZ register

aux1 ic-wr <reg> <data>

Register is one byte in hex, data is 1 or more bytes in hex.

Example of switching to memory page 0.

aux1 ic-wr 40 00

aux1 ic-rd - Read iC-PZ register

aux1 ic-rd <reg> <length>

The register is one byte in hex, length is a decimal value indicating the number of bytes to read.

Example of reading the temperature data:

aux1 ic-rd 4e 2

aux1 ic-extra - Select alternate periodic data

aux1 ic-extra <fields>

"fields" is a decimal bitmask of items to read at 1000Hz and display in the diagnostic stream.

bit 0 - the diagnosis command result bit 1 - the contents of the AI_PHASES registers

Example of enabling the AI_PHASES registers only:

aux1 ic-extra 2

tel - telemetry

tel get

Retrieve the contents of a given channel. Text or binary mode is determined via the tel fmt or tel text commands, and defaults to binary mode.

tel get <channel>

tel list

List all available telemetry channels.

tel schema

Report the binary schema associated with the given channel.

tel schema <channel>

The schema is reported as follows:

emit <channel>\r\n
<LE uint32 size><data>

tel rate

Control the rate at which a given channel is emitted.

tel rate <channel> <rate_ms>

tel fmt

Select whether a given channel will be emitted in binary or text form.

tel fmt <channel> <format>

format is an integer, non-zero signifies the data should be emitted as text.

tel stop

Stop emitting all periodic telemetry data.

tel text

Switch all channels to text mode.

conf - configuration

NOTE: Any commands that change parameters, such as conf set, conf load, or conf default, if executed manually in tview will not automatically update the UI. tview must be restarted to display the new parameters in the UI.

conf enumerate

Print the current value of all configurable parameters.

conf get

Get the value of a single configurable parameter.

conf get <item>

conf set

Set the value of a single configurable parameter in RAM.

conf set <item> <value>

conf load

Load all configurable values from persistent storage. This will overwrite their current values in RAM.

conf write

Write the current value of all configurable parameters from RAM to persistent storage.

conf default

Update the RAM values of all configurable parameters to their firmware default.

NOTE: This only updates RAM, not the persistent storage. A conf write will be necessary to save these to persistant storage.