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techniclargelinearmotor.md

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TechnicLargeLinearMotor

LEGO Technic smaller default motor.

Type: External Motor

Status: Pending Issues

Modes

Mode 0 - POWER

The percentage of maximum power applied to the motor.

Direction: Output

DataType: SByte, -100 (CCW) to 100 (CW), special values 0 (floating) and -127 (breaking)

Notes

  • Setting POWER to 0 or -127 stops the motor

Mode 1 - SPEED

The percentage of maximum speed currently applied to the motor

Direction: Input | Output

DataType: SByte, -100 (CCW) to 100 (CW), special values 0 (hold position)

Notes

  • Setting SPEED to 0 holds the position
  • For Floating or braking exits StartPower can be used instead.

Mode 2 - POS

The amount of degrees moved since the motor was started or reset to zero

Direction: Input | Output

DataType: Int32 up to 10_000 degrees.

Notes

  • The function Goto(Absolute)Position command refers to this position.

Mode 3 - APOS

The amount of degrees from an unmarked zero point.

Direction: Input | Output

DataType: Int16 -360 to 360.

Notes

  • The function Goto(Absolute)Position command DOEST NOT refers to this position.

Known Related Commands

  • StartPower & StartPower2 (with two motors on a single virtual port)
  • StartSpeed & StartSpeed2
  • StartSpeedForTime & StartSpeedForTime2
  • StartSpeedForDegrees & StartSpeedForDegrees2 (the 2x degrees are split between the two motors according to their speed)
  • GotoPosition & GotoPosition2
  • SetZero (resets the POS mode)

Open Questions

  • How exactly CALIB works
  • How exactly LOAD works (most likely how heavy utilized)

Resources

  • TODO

Port and Port Mode Information

TechnicMediumHub / Software 0.0.0.1000 / Hardware 0.0.0.1000

Binary Export

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0A-00-44-00-05-80-03-01-03-00

Human Readable Interpretation

  - Port: 0x00 / 0
    - IOTypeId: TechnicLargeLinearMotor / 0x002E / 46
      Revision: SW: 0.0.0.1000, HW: 0.0.0.1000       
      Capabilities: Output Input LogicalCombinable LogicalSynchronizable
      ModeCombinations: [0000000000001110]
    - Mode 0: Name: POWER, Symbol: PCT, Capability: Output
      - DataSet: 1x SByte, TotalFigures: 1, Decimals: 0
        Output Mapping: Absolute
        Raw Min:    -100, Max:     100
        Pct Min:    -100, Max:     100 (pass-through)
        SI  Min:    -100, Max:     100 (pass-through)
    - Mode 1: Name: SPEED, Symbol: PCT, Capability: Input Output
      - DataSet: 1x SByte, TotalFigures: 4, Decimals: 0
        Input Mapping: Absolute
        Output Mapping: Absolute
        Raw Min:    -100, Max:     100
        Pct Min:    -100, Max:     100 (pass-through)
        SI  Min:    -100, Max:     100 (pass-through)
    - Mode 2: Name: POS, Symbol: DEG, Capability: Input Output
      - DataSet: 1x Int32, TotalFigures: 4, Decimals: 0
        Input Mapping: Relative
        Output Mapping: Relative
        Raw Min:    -360, Max:     360
        Pct Min:    -100, Max:     100 (scaling)
        SI  Min:    -360, Max:     360 (pass-through)
    - Mode 3: Name: APOS, Symbol: DEG, Capability: Input Output
      - DataSet: 1x Int16, TotalFigures: 3, Decimals: 0
        Input Mapping: Relative
        Output Mapping: Relative
        Raw Min:    -360, Max:     360
        Pct Min:    -100, Max:     100 (scaling)
        SI  Min:    -360, Max:     360 (pass-through)
    - Mode 4: Name: LOAD, Symbol: PCT, Capability: Input Output
      - DataSet: 1x SByte, TotalFigures: 1, Decimals: 0
        Input Mapping: Relative
        Output Mapping: Relative
        Raw Min:       0, Max:     127
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:     127 (pass-through)
    - Mode 5: Name: CALIB, Symbol: RAW, Capability:
      - DataSet: 3x Int16, TotalFigures: 3, Decimals: 0
        Raw Min:       0, Max:     512
        Pct Min:       0, Max:     100 (scaling)
        SI  Min:       0, Max:     512 (pass-through)