api.markdown

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This is the API of the Techtile Robot Scissor Lift.

Requests

Name	Parameter	Data	Description
<SL_CONNECTION_CHECK_REQ>	0x01	/	Check the connection
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Name	Parameter	Data	Description
<SL_CHANGE_SPEED_RPS_REQ>	0x20	1 bytes	Set speed [Revolutions per second]
<SL_CHANGE_SPEED_SPS_REQ>	0x21	2 bytes	Set speed [Steps per second]
<SL_CHANGE_DIR_CW_REQ>	0x22	/	Change the direction to clockwise
<SL_CHANGE_DIR_CCW_REQ>	0x23	/	Change the direction to counterclockwise
<SL_MOVE_REV_REQ>	0x24	2 bytes	Move a number of revolutions
<SL_MOVE_STP_REQ>	0x25	4 bytes	Move a number of steps
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Name	Parameter	Data	Description
<SL_STOP_REQ>	0x30	4 bytes	Stop the machine now
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Name	Parameter	Data	Description
<SL_GETPOSITION_REQ>	0x40	4 bytes	Ask for current posistion
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Response messages

Confirmations

A confirmations will be given on each request message.

Name	Parameter	Description
<SL_RX_MSG_CNF>	0xA0	Confirm message received
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Indications

Name	Parameter	Description
<SL_HOME_IND>	0x50	Home posistion
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