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Communication & control of the custom gimbalLink

Connect to the Feather M0Link

First you need to find which USB port your Feather M0 is connected to.

To do so, you can use dmesg:

  1. make sure the usb cable from the Feather M0 is unplugged
  2. run dmesg -w in a terminal
  3. connect the usb and see something like: 
    [70481.093408] cdc_acm 1-2:1.0: ttyACM1: USB ACM device

Important

The important info here is ttyACM1!

Then you can use picocom to connect to the Feather M0: 

picocom /dev/ttyACM1 -b 115200 --omap crcrlf --echo

Note

-b 115200 is the baud rate of the connection, read the picocom man page for more info. --omap crcrlf is mapping the serial output from CR to CR+LF. --echo allows you to see what you are typing.

UsageLink

Send plain text-formatted commands for the position or speed commands. See the command list below:

  • x: set velocity (unit: RPM)
  • X: set target position (units: degrees)
  • c: start the calibration of the encoder
  • C: print results of the calibration
  • v: print target velocity
  • p: print PWM value

TroubleshootingLink

Serial access deniedLink

Look here if you can not communicate with the scanner using usb.