Orangutan X2 Command Documentation v1.01

Pololu Orangutan X2 Robot Controller.

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1. Overview

2. ATmega644 SPI Configuration

3. Low-Level SPI Commands

3.a. Motor Commands

3.a.01. Command 214: Set Motor Mode

3.a.02. Command 128: Independent Motor Brake (inB = inA)

3.a.03. Command 136: Independent Motor Drive (inB = ~inA)

3.a.04. Command 232: Independent Motor Drive with Acceleration (inB = ~inA)

3.a.05. Command 144: Joint Motor Operation (inA1 = inB1 = in1; inA2 = inB2 = in2)

3.a.06. Command 228: Joint Motor Drive with Acceleration (in2 = ~in1)

3.a.07. Command 208: Set Acceleration

3.a.08. Command 188: Set Brake Duration

3.a.09. Command 212: Set Number of Current Sense Samples in Averages

3.a.10. Command 192: Set Current Limit

3.a.11. Command 210: Set Motor PWM Frequencies

3.a.12. Command 216: Get Average Motor Current

3.b. Buzzer Commands

3.b.1. Command 152: Play Note

3.b.2. Command 160: Play Frequency

3.b.3. Command 176: Play Melody

3.b.4. Command 168: Store Note

3.b.5. Command 224: End Melody

3.b.6. Command 186: Erase Melodies

3.b.7. Command 226: Set Volume

3.b.8. Command 187: Set Note Gap

3.b.9. Command 225: Buzzer Off

3.c. UART Commands

3.c.01. Command 200: Set Serial Parameters

3.c.02. Command 219: Read UART Byte

3.c.03. Command 220: Send UART Byte

3.c.04. Command 222: Get Free Space in Send Buffer

3.c.05. Command 223: Get Number of Bytes in Read Buffer

3.c.06. Command 227: Set Read Ready Size

3.c.07. Command 252: Get UART Error

3.d. Miscellaneous Commands

3.d.01. Command 218: Get Status

3.d.02. Command 240: Write to EEPROM

3.d.03. Command 248: Read from EEPROM

3.d.04. Command 254: Check If EEPROM Is Busy

3.d.05. Command 253: Get Firmware version (version = major byte . minor byte)

3.d.06. Command 255: NULL Command

4. Attention and SPI Pins

4.a. ATmega168's Attention Line

4.b. ATmega168's Slave Select

5. ATmega168's EEPROM Addresses

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