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en:dev:digitail-command-protocol [2023/12/08 23:06] – darkgrueen:dev:digitail-command-protocol [2026/08/11 18:02] (current) – darkgrue
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 ====== TAIL PROTOCOL ====== ====== TAIL PROTOCOL ======
  
-== Firmware Ver 2.21 (05Nov2019) ==+Command list for The Tail Company DIGITAiL Firmware Ver 2.21 (05Nov2019). 
 + 
 +<WRAP round important 90%> 
 +This protocol only applies to the DIGITAiL product, which does not have updatable firmware. 
 +</WRAP> 
 + 
 ===== Command List ===== ===== Command List =====
  
 **NOTE:** Commands are all case insensitive **NOTE:** Commands are all case insensitive
 +
  
 ==== Tail Moves ==== ==== Tail Moves ====
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 | TAILU3 | User defined 3 | | TAILU3 | User defined 3 |
 | TAILU4 | User defined 4 | | TAILU4 | User defined 4 |
 +
  
 ==== Led Patterns ==== ==== Led Patterns ====
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 | LEDUS3 | User defined 3 | | LEDUS3 | User defined 3 |
 | LEDUS4 | User defined 4 | | LEDUS4 | User defined 4 |
 +
  
 ==== Other Commands ==== ==== Other Commands ====
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 | USERLEDS | See below | | USERLEDS | See below |
 | AUTOMOVE | See below | | AUTOMOVE | See below |
 +
  
 ===== Send User Defined Tail Moves and LEDs Patterns ===== ===== Send User Defined Tail Moves and LEDs Patterns =====
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 {{ :en:dev:usermove_graphical_example.jpg?nolink |}} {{ :en:dev:usermove_graphical_example.jpg?nolink |}}
 +
  
 ==== USERTAIL Examples ==== ==== USERTAIL Examples ====
 +
  
 === Example 1 – Slow Wag 1 (same as the TAILS1 command) === === Example 1 – Slow Wag 1 (same as the TAILS1 command) ===
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 B1B7 Servo2 moves exactly as servo1\\  B1B7 Servo2 moves exactly as servo1\\ 
 S68S68 Position 2 is reached in 68*20ms = 1.36s; return to position 1 in the same time\\  S68S68 Position 2 is reached in 68*20ms = 1.36s; return to position 1 in the same time\\ 
 +
  
 === Example 2 – Test Servos === === Example 2 – Test Servos ===
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 B4B8B4B0 Move servo2 90° at a time, starting from 90°\\  B4B8B4B0 Move servo2 90° at a time, starting from 90°\\ 
 S100S100S100S100 Each position is held for 100*20ms = 2s\\  S100S100S100S100 Each position is held for 100*20ms = 2s\\ 
 +
  
 ==== USERLEDS Examples ==== ==== USERLEDS Examples ====
 +
  
 === Example 1 – Beacon (same as the LEDBEA command) === === Example 1 – Beacon (same as the LEDBEA command) ===
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 A8A0 Start at full brightness, then turn off\\  A8A0 Start at full brightness, then turn off\\ 
 S5S95 On for 5*20ms = 100ms; Off for 95*20ms = 1.9s (total time = 2 seconds)\\  S5S95 On for 5*20ms = 100ms; Off for 95*20ms = 1.9s (total time = 2 seconds)\\ 
 +
  
 === Example 2 – Fade in/out (similar to LEDTRI) === === Example 2 – Fade in/out (similar to LEDTRI) ===
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 A0A8 Start off, finish at full brightness\\  A0A8 Start off, finish at full brightness\\ 
 L100L100 Each brightness point is reached in 100*20ms = 2s\\  L100L100 Each brightness point is reached in 100*20ms = 2s\\ 
 +
  
 ===== Random Moves (Auto) ===== ===== Random Moves (Auto) =====
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 | Fast and Excited | Fast Wag, Short Wag, Happy Wag, Erect | | Fast and Excited | Fast Wag, Short Wag, Happy Wag, Erect |
 | Frustrated and Tense | Tremble 1, Tremble 2, Tremble Erect, High Wag | | Frustrated and Tense | Tremble 1, Tremble 2, Tremble Erect, High Wag |
 +
  
 ==== Commands ==== ==== Commands ====
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 The parameter order is not important, except that the 3 T parameters are interpreted in the above order. The parameter order is not important, except that the 3 T parameters are interpreted in the above order.
 +
  
 === Example === === Example ===
  
 **AUTOMODE T15 T60 T240 G1 G2** **AUTOMODE T15 T60 T240 G1 G2**
 +
 +
 +== Copyright 2023 © The Mechanical Tail Company Limited contact@thetailcompany.com. All Rights Reserved. ==