TAIL PROTOCOL

NOTE: Commands are all case insensitive

Up to 4 user-defined move definitions and 4 LED patterns can be sent over the BT connection and assigned to user presets (callable with the TAILU1 … TAILU4 commands). These presets will be lost once the unit is powered off.

The two instructions used to send a tail move or a LED pattern definition follow the same syntax and consist in a keyword (usermove or userleds) followed by a number of parameters. These are letter-number pairs, where the letter defines the type of parameter (see table).

USERMOVE U<n> P<n> N<nnn> A<n> A<n> … A<n> B<n> B<n> … B<n> S<nnn> S<nnn> … S<nnn>
USERLEDS U<n> P<nn> N<nnn> A<n> A<n> … A<n> S<nnn> S<nnn> … S<nnn>

<n> 1-digit number <nn> 1- or 2-digit number <nnn> 1- to 3-digit number

NOTES:

• Parameters of type A, B, S and L can appear in any order (e.g. AABBSS, ABABSS, ABSABS)
• Parameters can be separated by any character that is not a number or a letter (e.g. space, comma, semicolon). However, the letters themselves act as separators, and it is recommended that no additional characters are used, as the serial buffer has a limited capacity and may not be able to store the whole instruction

Both servos move from 22.5° to 157.5° (position 1 to 7) and back, for 3 times; each cycle is (68+68)*20ms = 2.72s long USERMOVE U1P2N3A1A7B1B7L68L68 U1 → Store into user preset 1 P2 → The move consists of 2 points N3 Repeat the sequence 3 times A1A7 Servo1 moves from 1 to 7 (157.5° to 22.5°) B1B7 Servo2 moves exactly as servo1 S68S68 Position 2 is reached in 68*20ms = 1.36s; return to position 1 in the same time

Moves servos in steps of 90° every 2 seconds; servo2 is delayed by 90° USERMOVE U2P4N3 A0A4A8A4 B4B8B4B0 S100S100S100S100 U2 Store into user preset 2 P4 The move consists of 4 points N3 Repeat the sequence 3 times A0A4A8A4 Move servo1 90° at a time, starting from 0° B4B8B4B0 Move servo2 90° at a time, starting from 90° S100S100S100S100 Each position is held for 100*20ms = 2s;

The led strip lights up for 100ms every 2s USERLEDS U1P2N5A8A0S5S95 0 8 4 5 6 7 0 1 2 3 20ms 40ms 60ms 80ms 100ms 120ms A0 L1 A8 L1 A3 S1 A6 L3 A0 S0 This closes the cycle (0 duration) Optional as the last position is copied from the first Figure 1 - Graphical Example U1 Store into user preset 1 P2 The pattern consists of 2 brightness points N5 Repeat pattern 5 times A8A0 Start at full brightness, then turn off S5S95 On for 5*20ms = 100ms; Off for 95*20ms = 1.9s (total time = 2 seconds) Example 2 – Fade in/out (similar to LEDTRI) The led strip lights up slowly, then dims until completely off; this is repeated 3 times USERLEDS U2P2N3 A0A8 L100L100 U2 Store into user preset 2 P2 The pattern consists of 2 brightness points N3 Repeat pattern 3 times A0A8 Start off, finish at full brightness L100L100 Each brightness point is reached in 100*20ms = 2s Random Moves (Auto) Defines a sequence of random moves, selected from any of 3 groups as below; interval between moves varies randomly from T1 and T2, while Move Group List of moves in the group Calm and Relaxed Slow Wag 1, Slow Wag 2, Slow Wag 3 Fast and Excited Fast Wag, Short Wag, Happy Wag, Erect Frustrated and Tense Tremble 1, Tremble 2, Tremble Erect, High Wag? Commands AUTOMODE G<n> G<n>G<n> T<nnn> T<nnn>T<nnn> STOPAUTO The tail will pause for a random number of seconds between each move (min and max specified by the first and second T parameter, respectively). The tail will stop completely after the time passed by the 3rd T parameter. Stopauto will abort the current ‘auto mode’ session after completing any ongoing move. Letter prefix Parameter type Range of values G Move Group (see table above) 1..3 T Time in 1 sec increments 15..240 (15s .. 4min) 1st parameter – min random pause between moves 2nd parameter – max random pause between moves 3rd parameter – total duration The parameter order is not important, except that the 3 T parameters are interpreted in the above order Example AUTOMODE T15 T60 T240 G1 G2