Using the Console Interface

Using the SLG-20 Console Interface

Introduction

The console interface allows the user to control and configure the SLG-20 Control board.

An interface is provided by the SLG-20 Control board, and accessed via a serial port over USB. Any serial terminal program running on the users computer should be able to access this interface, but instructions are given for using PuTTY on Windows and screen on MacOS.

Connecting to the Console Interface - General

To connect to the console interface, make sure the SLG-20 Control Board is powered and the switch is in the "D" or "DBG" position. Connect the board to the computer using USB. Connect to the serial port using your serial terminal program using the baud rate 115200.

For more detailed instructions, refer to the pages for Windows and Mac.

Using the Console Interface

The console interface uses a system of text commands to allow the user to interact with the SLG-20 Control Board. To execute a command, type it into the serial terminal program and hit enter. The result of the command will be printed on the screen.

Available Commands

Command	Description
version	Print firmware version information
help	Print list of available commands
param	Metacommand for the param subsystem, see param command table
control	Metacommand for the control subsystem, see control command table
isense	Print raw output from the current sensors, execute command again to stop
reboot	Reboot the SLG-20 Control Board

Param Subcommand Table

Command	Description
param get	Prints the value of a parameter. Usage: "param get <name of parameter>"
param set	Sets the value of a parameter. Usage: "param set <name of paramter>"
param load	Loads all parameters from persistant memory into ram, overwrites current parameters
param save	Saves all parameters from ram into persistant memory
param dump	Prints all parameters to the console interface
param reset	Resets all parameters to default values

Control Subcommand Table

Command	Description
control up	Raise the legs
control down	Lower the legs
control state	Print the current control state
control insert	Sets a servo to insertion position. See calibration Instructions
control cal	Triggers the auto calibration mode. See calibration Instructions
control reset	Resets the control state machine to standby mode with legs down WARNING: This is potentially dangerous. Only execute when legs are in the down position.