Multimove
Description
The multimove command allows you to compose multiple moves one after another. Please note that when the queue becomes empty after all the moves are executed and the motor is not at a standstill then a fatal error will be triggered.
Inputs
u8 moveCount: Specify how many moves are being communicated in this one shot.
u32 moveTypes: Each bit specifies if the move is a (bit = 0) MOVE_WITH_ACCELERATION_COMMAND or a (bit = 1) MOVE_WITH_VELOCITY_COMMAND.
list_2d moveList: A 2D list in Python format (list of lists). Each item in the list is of type [i32, u32] representing a series of move commands. Each move command specifies the acceleration to move at or the velocity to instantly change to (according to the bits above) and the number of time steps over which this command is to be executed. For example: '[[100, 30000], [-200, 60000]]'. There is a limit of 32 move commands that can be listed in this one multi-move command. Each of the moves takes up one queue spot, so make sure there is enough space in the queue to store all of the commands.
Outputs
None
Log window