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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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