This document is completely theoretical at this point in time!

Extruder Controller SNAP Protocol Version 1

This is the second version of the thermoplastic extruder protocol. It accepts various commands relating to controlling a single thermoplastic extruder.

API

The following commands are in addition to the globally required commands on the main modules page.

Is Empty?

Parameters:

• 1 byte status (0=full, 1=empty)

Returns:

• Nothing

Set heat

Parameters:

• 1 byte low heat (pwm)
• 1 byte high heat (pwm)
• 2 byte target temp (celsius)
• 2 byte max temp (celsius)

Returns:

• Nothing

Get temperature

Parameters

• Nothing

Returns:

• 2 byte temp (celsius)

Set cooler

Parameters

• 1 byte pwm

Returns:

• Nothing

Free Motor

Parameters:

• Nothing

Returns:

• Nothing

Motion control ideas:

we need to figure out how we want to do motor control in the next version of the protocol. should we use the 'blind' method of a normal DC motor, or should we use something with more precise positioning information like a stepper or servo?

motion control #1 (dc motor):

Move Forward

Parameters:

• 1 byte pwm

Returns:

• Nothing

Move Backward

Parameters:

• 1 byte pwm

Returns:

• Nothing

motion control #2 (stepper/servo):

Set Speed

Parameters:

• 2 byte (rpm, rph, hz?)

Returns:

• Nothing

Get Speed

Parameters:

• Nothing

Returns:

• 2 byte (rpm, rph, hz?)

Set Position

Parameters:

• 4 byte position

Returns:

• Nothing

Get position

Parameters:

• Nothing

Returns:

• 4 byte position

Set Target

Parameters:

• 4 byte target

Returns:

• Nothing

Get Target

Parameters:

• Nothing

Returns:

• 4 byte target

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