Restart script at subroutine with parameter, Get script status, G. daisy chaining – Pololu Maestro User Manual
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Restart Script at Subroutine with Parameter
Compact protocol: 0xA8, subroutine number, parameter low bits, parameter high bits
Pololu protocol: 0xAA, device number, 0x28, subroutine number, parameter low bits, parameter high bits
This command is just like the Restart Script at Subroutine command, except it loads a parameter on to the stack before
starting the subroutine. Since data bytes can only contain 7 bits of data, the parameter must be between 0 and 16383.
Get Script Status
Compact protocol: 0xAE
Pololu protocol: 0xAA, device number, 0x2E
Response: 0x00 if the script is running, 0x01 if the script is stopped
This command responds with a single byte, either 0 or 1, to indicate whether the script is running (0) or stopped (1).
Using this command together with the commands above, you can activate a sequence stored on the Maestro and wait
until the sequence is complete before moving on to the next step of your program.
5.g. Daisy Chaining
This section is a guide to integrating the Maestro in to a project that has multiple TTL serial devices that use a
compatible protocol. This section contains no new information about the Maestro: all of the information in this section
can be deduced from the definitions of the three serial modes (
) and the serial protocols used by the
).
First of all, you will need to decide whether to use the Pololu protocol, the Mini SSC protocol, or a mix of both. You
must make sure that no serial command you send will cause unintended operations on the devices it was not addressed
to. If you want to daisy chain several Maestros together, you can use a mixture of both protocols. If you want to daisy
chain the Maestro with other devices that use the Pololu protocol, you can use the Pololu protocol. If you want to
daisy chain the Maestro with other devices that use the Mini SSC protocol, you can use the Mini SSC protocol.
Secondly, assign each device in the project a different device number or Mini SSC offset so that they can be
individually addressed by your serial commands. For the Maestro, this can be done in the Serial Settings tab of the
Maestro Control Center application.
The following diagram shows how to connect one master and many slave devices together into a chain. Each
of the devices may be a Maestro or any other device, such as a
,
or other microcontroller.
Daisy chaining serial devices using the Pololu
protocol. An optional AND gate is used to join
multiple TX lines.
The Mini Maestro 12, 18, and 24 have a special input called TXIN that eliminates the need for an external AND gate
(the AND gate is built in to the Maestro.) To make a chain of devices using the TXIN input, connect them like this:
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5. Serial Interface
Page 45 of 73