Manual

bits (which are interpreted as a number from 0 – 7). If the lower four bits are called x and the upper three bits

are called y, the equation for the length of the timeout duration would be:

timeout = 0.262 seconds * x * 2

For example, if the timeout parameter is set as 0x5E (01011110 in binary), we have that x = 1110 (binary) =

14 (decimal) and y = 101 (binary) = 5 (decimal), which results in a timeout duration of

0.262s * 14 * 2

= 117 seconds.

The maximum timeout duration (arising from a parameter value of 0x7F, or 127 in decimal) is 8.32 minutes

and the minimum timeout duration (arising from a parameter value of 1) is 262 ms.

This parameter has a default value of 0 (serial timeout disabled) and can be set to any value from 0 – 127.

Command 0x83: Get Configuration Parameter

Compact protocol: 0x83, parameter number

Pololu protocol: 0xAA, device ID, 0x03, parameter number

This command lets you request the current value of any of the four configuration parameters detailed above. This

command will cause the qik to transmit a single byte that represents the requested parameter value. If you request

an invalid parameter (i.e. if parameter number ≥ 4), the value transmitted by the qik should be 0xFF (255 in

decimal) and a format error will be generated.

Command 0x84: Set Configuration Parameter

Compact protocol: 0x84, parameter number, parameter value, 0x55, 0x2A

Pololu protocol: 0xAA, device ID, 0x04, parameter number, parameter value, 0x55, 0x2A

This command lets you set the value of any of the four configuration parameters detailed above. The final two

bytes of the command packets are format bytes that make it more difficult for this command to be unintentionally

or accidentally sent, as might result from a noisy serial connection or buggy code. If either of the format bytes

differs from the expected value, the command is ignored and a format error is generated.

It takes the qik approximately 4 ms to finish processing this command, at which point the qik will transmit a single

return byte that contains information about whether the process was successful. You should not send commands

to the qik until you have received this return byte, or until at least 4 ms have elapsed. The return byte can have the

following values:

• 0: Command OK (success)

• 1: Bad Parameter (failure due to invalid parameter number)

• 2: Bad value (failure due to invalid parameter value for the specified parameter number)

Failure will result in a format error.

Once you have set the value of a configuration parameter, that value will be saved even if the unit is unplugged or

reset.

5. Serial Commands Page 17 of 24