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Motors.md

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Motors

motor A 50% 0.1s:

0c:00:81:37:11:09:64:00:32:64:7f:03

gatttool -b 00:16:53:A4:CD:7E --char-write-req --handle=0x0e \
         --value=0c0081371109640032647f03

motor A 100% 0.1s

1  2  3  4  5  6  7  8  9  10 11 12
0c:00:81:37:11:09:64:00:64:64:7f:03

motor B 50% 0.1s

1  2  3  4  5  6  7  8  9  10 11 12
0c:00:81:38:11:09:64:00:32:64:7f:03

motor B 50% 0.2s

1  2  3  4  5  6  7  8  9  10 11 12
0c:00:81:38:11:09:c8:00:32:64:7f:03

Test Script

                 /- Port (AB=0x39 - motor group)
                 |
        /- len!  |     /- Value Type
        |        |     |
        0. 1. 2. 3. 4. 5. 6. 7. 8. 9. 10 11 12
  data: 0d 01 81 39 11 0a 00 06 9B 9B 64 7f 03
  data: 0d 01 81 39 11 0a 80 09 9B 64 64 7f 03
  data: 0d 01 81 39 11 0a 00 06 9B 9B 64 7f 03
  data: 0d 01 81 39 11 0a 80 09 9B 64 B4 7f 03
              |
              \- packet-type - 0x81 is 'set port value'

  gatttool -i hci1 \
  -b 00:16:53:A4:CD:7E \
  --char-write-req \
  --handle=0x0e \
  --value=0c018139110a00069B9B647f03
  gatttool -i hci1 -b 00:16:53:A4:CD:7E --char-write-req --handle=0x0e \
         --value=0c018139110a80099B64647f03
  sleep 2.4
  gatttool -i hci1 -b 00:16:53:A4:CD:7E --char-write-req --handle=0x0e \
        --value=0c018139110a00069B9B647f03
  sleep 1.5
  gatttool -i hci1 -b 00:16:53:A4:CD:7E --char-write-req --handle=0x0e \
         --value=0c018139110a80099B64B47f03

So...

General Packet Header:

  1. packet length (0xC=12 for Time Value, 0xE for Angle Value)
  2. ??? (maybe packet format version, usually 0x0, but seen samples w/ 0x1)
  3. packet type - 0x81 = Set Port Value
  4. port - motors are: A=0x37, B=0x38, A+B=0x39, D=0x02, C=0x01

Port 0x39 is special in that it addresses both, motor A and motor B. The group (and its child ports) is reported in the port registration packet (0x4).

Set Motor Port Value

  1. 0x11 - unknown
  2. Value Type:
  • 0x00 - ??
  • 0x01 - forever single
  • 0x02 - forever grouped
  • 0x03 - some#1 single
  • 0x04 - some#1 grouped
  • 0x05 - some#2 single
  • 0x06 - some#2 grouped
  • 0x07 - some#3 mode single - interprets parameters in strange way
  • 0x08 - some#3 mode grouped
  • 0x09 - Time Value
  • 0x0A - Time Multi Motor Value - Test Script
  • 0x0B - Angle Value

Time Value: Byte 6 Type 0x09

Run motor for a specific time.

  • 7+8 - motor run time in milliseconds in little endian (UInt16)
    • 0.1s = 64 00
    • 0.2s = c8 00
  • 9 - duty cycle 0..127, including turn direction (+/-)

Trailer (same for Angle):

  • 10 - ?? value 0x64
  • 11 - ?? value 0x7F
  • 12 - ?? value 0x03

Notes on time:

7h and 8th byte is timing (LSB + MSB)
0.1s = 64 00
0.2s = c8 00
64h = 100d
c8h = 200d
So time is in mil 647f03liseconds
00 0A = 2560 = 2.56 seconds
00 0F = 3.84 seconds

Angle Value: Byte 6 Type 0x0B

Run motor to a specific angle.

  • 7...10 - angle (UInt32 Little Endian)
  • 11 - dutycycle 0..127, including turn direction (+/-)

Trailer (same for Time Value):

  • 12 - ?? value 0x64
  • 13 - ?? value 0x7F
  • 14 - ?? value 0x03 (same for Time Value)

Time Multi Motor Value: Byte 6 Type 0xA (Test Script)

This only seems to work for motor groups (i.e. port 0x39).

This value is used in the motor test script. E.g. it seems to allow the group motors to run in different directions (e.g. to turn Vernie). The trailer has one byte different from the other value types

Motor Packet header: 0c 01 81 39 11 0a

Payload

              | trailer, same like other packets (0x7F, 0x03)
 7  8  9 10 11 12 13              
00 06 9B 9B 64 7f 03
80 09 9B 64 64 7f 03
00 06 9B 9B 64 7f 03
80 09 9B 64 B4 7f 03  // Note: trailer 11 is different here, 0xB4
         \- duty cycle w/ direction? 0x64=100% 0x9B=100% reverse
  • Byte 7/8 - at least 8 is a timing
  • Byte 9 - duty cycle motor A (including direction)
  • Byte 10 - duty cycle motor B (including direction)
  • Byte 11 - also looks like a duty cycle, but for what? Thoug 0xB4 looks like 180 degrees?

The ones starting with '80' seem to turn Vernie a lot. The other two make it go backwards.

Byte 11: 0xB4 = decimal 180. Maybe degrees? some angle?

Duty Cycle

 50% = 0x32 (50  decimal)
100% = 0x64 (100 decimal)

Duty Cycle also controls the direction:

50% Clockwise = 50d = 32h
100% Clockwise = 100d = 64h
50% Counterclockwise = 255d-50d = 205d = CDh
100% Counterclockwise = 255d-100d = 155d = 9Bh

notes

motor A+B 50% 0.1s (not sure, screen too small)
0d:01:81:39:11:0a:64:00:32:32:64:7f:03




68:01 = 360º (LSB + MSB)

0c0081 M 11 09 T DT 647f03 = Turn motor M with duty cycle DT for T milliseconds 
0e0081 M 11 0b DEG 0000 DT 647f03 = Rotate motor M DEG degrees with duty cycle DT

DEG:
5A 00 = 90º
B4 00 = 180º
0E 01 = 270º
68 01 = 360º

Tested examples:

  • 0c 00 81 39 11 09 e8 03 64 64 7f 03 move A+B for 1 second with 100% DC
  • 0d 00 81 39 11 0a e8 03 64 9b 64 7f 03 move A for 1s with 100% DC and B for 1s with -100% DC (oppositional movement)
  • 0e 00 81 39 11 0b 5a 00 00 00 0e 64 7f 03 move A+B 90° with 15% DC
  • 0f 00 81 39 11 0c 5a 00 00 00 0e f1 64 7f 03 move A 90° with 15% DC and B 90° with -15% DC (oppositional movement)