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PROTOCOL.md

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Protocol Specification

DATA TYPE

  • FB, Means Firmata Byte, Each FB = 7bits Byte
Type Short Name Range Bits Actual Bytes
1FB Byte 1FB Byte 0 ~ 127 7 1
2FB unsigned Integer 2FB uint 0 ~ 16383 14 2
3FB Integer 3FB int -16383 ~ 16383 15 3
3FB Float 3FB float 0.00 ~ 16383.99 21 3
4FB Float 4FB float -16383.99 ~ 16383.99 22 4
------------------- - :------------------: :------: :---:

DATA TYPE - 1FB Byte

1FB byte = bytes[0]
Sequence Range Remark
0 0 ~ 127
---------- :-----: ------

DATA TYPE - 2FB uint

2FB unit = bytes[0] + bytes[1]<<7
Sequence Range Remark
0 0 ~ 127 MSB
1 0 ~ 127 LSB
-------- :-----: ------

DATA TYPE - 3FB int

3FB int = (bytes[0]==0 ? 1 : -1) * (bytes[1] + bytes[2]<<7)
Sequence Range Remark
0 0 or 1 Negative - 1
1 0 ~ 127 MSB
2 0 ~ 127 LSB
-------- :-----: ------------

DATA TYPE - 3FB float

3FB Float = bytes[0] + bytes[1]<<7 + bytes[2]/100.00
Sequence Range Remark
0 0 ~ 127 Integer MSB
1 0 ~ 127 Integer LSB
2 0 ~ 99 Decimal Val
-------- :-----: ------------

DATA TYPE - 4FB float

4FB Float = (bytes[0]==0 ? 1 : -1) * (bytes[1] + bytes[2]<<7 + bytes[3]/100.00)
Sequence Range Remark
0 0 or 1 Negative - 1
1 0 ~ 127 Integer MSB
2 0 ~ 127 Integer LSB
3 0 ~ 99 Decimal Val
-------- :-----: ------------

Protocol Request Message Type

Type Command Data Total Bytes Remark
UARM_CODE 0xAA N/A 1 UARM First Level Command
Type Command Data Total Bytes Remark
--- --- --- --- ---
READ_ANGLE 0x10 1fb Byte X2 6 Return Servo Angle from uArm
WRITE_ANGLE 0x11 1fb Byte X1 + 3fb Float X1 9 Write Servo Angle to uArm
READ_COORDS 0x12 4 Read Coordinate from uArm
WRITE_COORDS 0x13 4fb Float X5 + 1fb Byte X3 27 Move uArm to the Coordinate
READ_DIGITAL 0x14 1fb Byte X2 6 Read Digital from uArm
WRITE_DIGITAL 0x15 1fb Byte X2 6 Write Digital to uArm
READ_ANALOG 0x16 1fb Byte 5 Read Analog from uArm
WRITE_ANALOG 0x17 1fb Byte + 4b Float 9 Write Analog to uArm
READ_EEPROM 0x1A 1fb Byte + 2b uint 7 Read the value from EEPROM
WRITE_EEPROM 0x1B 1fb Byte + 2b uint + 2b uint/3b int/4b float 9/10/11 Write the value to EEPROM
DETACH_SERVO 0x1C 0 4 Detach All Servo
PUMP_STATUS 0x1D 1fb Byte 5 Control Pump
GRIPPER_STATUS 0x20 1fb Byte 5 Control Gripper
WRITE_STRETCH 0x1E 4b Float X2 12 Move uArm to Position with Stretch and Height
WRITE_LEFT_RIGHT_ANGLE 0x1F 3b Float X2 10 Write Left & Right Servo Angle
READ_SERIAL_NUMBER 0x21 0 4 Read Serial Number from EEPROM
WRITE_SERIAL_NUMBER 0x22 1fb Byte X14 18 Write Serial Number from EEPROM
REPORT_LIBRARY_VERSION 0x23 0 4 Report uArm Library Version

Request READ_ANGLE Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_ANGLE 0x10 1
4 Servo Number 0/1/2/3 1 SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
5 with Offset 0/1 1 0 False, 1 True
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 6 ------------------------------------------------------------------

Request WRITE_ANGLE Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_ANGLE 0x11 1
4 Servo Number 0/1/2/3 1 SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
5 Servo Angle 0.00 - 16383.99 (3b Float) 3
6 with Offset 0/1 1 0 False, 1 True
7 END_SYSEX 0xF7 1
-------- ------------ ------------ 9 ------------------------------------------------------------------

Request READ_COORDS Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0x12 1
3 READ_COORDS 0x10 1
4 END_SYSEX 0xF7 1
-------- ------------ ------------ 4 ------------------------------------------------------------------

Request WRITE_COORDS Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_COORDS 0x13 1
4 X Axis -16383.99 - 16383.99 (4b Float) 4
5 Y Axis -16383.99 - 16383.99 (4b Float) 4
6 Z Axis -16383.99 - 16383.99 (4b Float) 4
7 Hand Axis -16383.99 - 16383.99 (4b Float) 4
8 relative_flags 0/1 1 0 relative, 1 absolute
9 time_spend -16383.99 - 16383.99 (4b Float) 4
10 path_type 0/1 1 0 PATH_LINEAR, 1 PATH_ANGLES
11 ease_type 0/1 1 0 PATH_LINEAR, 1 PATH_ANGLES
12 END_SYSEX 0xF7 1 0 INTERP_EASE_INOUT_CUBIC, 1 INTERP_LINEAR, 2 INTERP_EASE_INOUT, 3 INTERP_EASE_IN, 4 INTERP_EASE_OUT
-------- ------------ ------------ 27 ------------------------------------------------------------------

Request READ_DIGITAL Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_DIGITAL 0x14 1
4 pin number 0-127 1 Pin Number
5 pin mode 0/1 1 0 INPUT, 1 PULL_UP
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 6 ------------------------------------------------------------------

Request WRITE_DIGITAL Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_DIGITAL 0x15 1
4 pin number 0-127 1 Pin Number
5 Value 0/1 1 0 LOW, 1 HIGH
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 6 ------------------------------------------------------------------

Request READ_ANALOG Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_ANALOG 0x16 1
4 ANALOG PIN NUMBER 0 - 127 1
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 6 ------------------------------------------------------------------

Request WRITE_ANALOG Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_ANALOG 0x17 1
4 PIN Number 0 - 127 1
5 Analog 0 - 16383 (2b unsigned int) 2
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 8 ------------------------------------------------------------------

Request READ_EEPROM Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_EEPROM 0x1A 1
4 DATA TYPE 1/2/4 1 DATA_TYPE_BYTE -1 , DATA_TYPE_INTEGER -2 , DATA_TYPE_FLOAT -4
5 ADDRESS 0 - 16383 2
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 7 ------------------------------------------------------------------

Request WRITE_EEPROM Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_EEPROM 0x1B 1
4 DATA TYPE 1/2/4 1 DATA_TYPE_BYTE -1 , DATA_TYPE_INTEGER -2 , DATA_TYPE_FLOAT -4
5 ADDRESS 0 - 16383 2
6 Data 2b unsigned int/ 3b int/ 4b Float 2/3/4
7 END_SYSEX 0xF7 1
-------- ------------ ------------ 9/10/11 ------------------------------------------------------------------

Request DETACH_SERVO Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 DETACH_SERVO 0x1C 1
4 END_SYSEX 0xF7 1
-------- ------------ ------------ 4 ------------------------------------------------------------------

Request PUMP_STATUS Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 PUMP_STATUS 0x1E 1
4 data 0/1 1 0 Off, 1 On
5 END_SYSEX 0xF7 1
-------- ------------ ------------ 5 ------------------------------------------------------------------

Request GRIPPER_STATUS Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 GRIPPER_STATUS 0x20 1
4 data 0/1 1 0 Release, 1 Catch
5 END_SYSEX 0xF7 1
-------- ------------ ------------ 5 ------------------------------------------------------------------

Request WRITE_STRETCH Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_STRETCH 0x1E 1
4 STRETCH 4b float 4
5 HEIGHT 4b float 4
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 12 ------------------------------------------------------------------

Request WRITE_LEFT_RIGHT_ANGLE Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_LEFT_RIGHT_ANGLE 0x1F 1
4 LEFT_ANGLE 3b float 3
5 RIGHT_ANGLE 3b float 3
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 10 ------------------------------------------------------------------

Request READ_SERIAL_NUMBER Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_SERIAL_NUMBER 0x21 1
4 END_SYSEX 0xF7 1
-------- ------------ ------------ 4 ------------------------------------------------------------------

Request WRITE_SERIAL_NUMBER Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 WRITE_SERIAL_NUMBER 0x22 1
4 DATA 1fb Byte X14 14 ASCII code
5 END_SYSEX 0xF7 1
-------- ------------ ------------ 18 ------------------------------------------------------------------

Request REPORT_LIBRARY_VERSION Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 REPORT_LIBRARY_VERSION 0x23 1
4 END_SYSEX 0xF7 1
-------- ------------ ------------ 4 ------------------------------------------------------------------

Protocol RESPONSE Message Type

Type Command Data Total Bytes Remark
UARM_CODE 0xAA N/A 1 UARM First Level Command
Type Command Data Total Bytes Remark
--- --- --- --- ---
READ_ANGLE 0x10 3fb Float 7 Return Servo Angle from uArm
READ_COORDS 0x12 4fb Float X3 12 Read Coordinate from uArm
READ_DIGITAL 0x14 1fb Byte X2 6 Read Digital from uArm
READ_ANALOG 0x16 1fb Byte X3 7 Read Analog from uArm
READ_EEPROM 0x1A 1fb Byte + 2fb uint + 2fb uint/3fb Float/4fb Float 9/10/11 Read the value from EEPROM
REPORT_LIBRARY_VERSION 0x23 1fb Byte X3 4 Report uArm Library Version

Response READ_ANGLE Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_ANGLE 0x10 1
4 SERVO NUMBER 0/1/2/3 1 SERVO_ROT_NUM, SERVO_LEFT_NUM, SERVO_RIGHT_NUM, SERVO_HAND_ROT_NUM
5 SERVO ANGLE 3fb float 3
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 8 ------------------------------------------------------------------

Response READ_COORDS Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_COORDS 0x12 1
4 X Axis 4fb floats 4
5 Y Axis 4fb floats 4
6 Z Axis 4fb floats 4
7 END_SYSEX 0xF7 1
-------- ------------ ------------ 16 ------------------------------------------------------------------

Response READ_DIGITAL Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_DIGITAL 0x14 1
4 PIN NUMBER 0 - 127 1
5 VALUE 0/1 1 HIGH : 1, LOW : 0
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 6 ------------------------------------------------------------------

Response READ_ANALOG Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_ANALOG 0x16 1
4 PIN NUMBER 0 - 127 1
5 ANALOG VALUE 0 - 16383 2
6 END_SYSEX 0xF7 1
-------- ------------ ------------ 7 ------------------------------------------------------------------

Response READ_EEPROM Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_EEPROM 0x1A 1
4 DATA TYPE 1/2/4 1 BYTE: 1, INTEGER: 2, FLOAT: 4
5 ADDRESS 0 - 16383 2
6 DATA 1fb Byte/3b int/4fb Float 2/3/4
7 END_SYSEX 0xF7 1
-------- ------------ ------------ 9/10/11 ------------------------------------------------------------------

Response READ_SERIAL_NUMBER Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 READ_SERIAL_NUMBER 0x21 1
4 DATA 1fb Byte X14 14
5 END_SYSEX 0xF7 1
-------- ------------ ------------ 18 ------------------------------------------------------------------

Response REPORT_LIBRARY_VERSION Message

Sequence Type Command/Data Bytes Remark
1 START_SYSEX 0xF0 1
2 UARM_CODE 0xAA 1
3 REPORT_LIBRARY_VERSION 0x23 1
4 DATA 1fb Byte X3 3 MAJOR Version, MINOR Version, BUGFIX
5 END_SYSEX 0xF7 1
-------- ------------ ------------ 7 ------------------------------------------------------------------