The serial connection takes commands as an ASCII string of the form
command argument
terminated with a newline(\n). Argument is optional for some commands. The Arduino will return several lines:
Command: command
Argument: argument
Return: value
OK
The Command: and Argument: lines are always returned to confirm receipt of the command. Return: value is printed if the command returns a value.
OK is returned when the Arduino is ready to receive another command.
All commands except calibrate are asynchronous(i.e the Arduino will start
moving the steppers whilst continuing to receive commands) and so will
return OK almost immediately.
Command
calibrate
Response
Command: calibrate
Argument:
OK
calibrate runs the calibration routine for the stage, running the stepper
motors on each axis to find where the limit switches are and establishing
an absolute positioning system. Other commands which rely on absolute
positioning will return an error if this has not been run.
Command
is_calibrated
Response
Command: is_calibrated
Argument:
Return: 1
OK
is_calibrated returns 1 if calibrated has been run, and 0 if not.
Command
get_z_length
Response
Command: get__z_length
Argument:
Return: 15381
OK
Returns the total length of the z axis in units of steps.
Command
get_z_position
Response
Command: get_z_position
Argument:
Return: 3651
OK
Returns the current z position of the stage, in units of steps, from the bottom of the axis.
Command
z_move -500
Response
Command: z_move
Argument: -500
OK
Moves the stage from its current position the given number of steps along the z-axis. Positive for up, negative for down
Command
z_move_to 1500
Response
Command: z_move_to
Argument: 1500
OK
Moves the stage to an absolute position along the z-axis, measured in
units of steps from the bottom of the axis. If given a position which is out
of the range of the axis (i.e. less than 0 or greater than the result of
get_z_length), will return an Out of Range error.
Command
get_z_distance_to_go
Response
Command: get_z_distance_to_go
Argument:
Return: 130
OK
Gets the number of steps to go until the stage reaches its current target on
the z-axis(set by z_move or z_move_to).