The KangarooChannel type exposes the following members.
Sets the baud rate. This affects all channels of the controller that receives the command.
Issues a 'get' request.
Gets the maximum position. This corresponds to DEScribe's Nominal Travel maximum.
Gets the minimum position. This corresponds to DEScribe's Nominal Travel minimum.
Gets the absolute position.
Gets the incremental position (relative to the position when the last command was issued).
Gets the absolute speed (positive or negative depending on direction).
Gets the incremental speed (relative to the speed when the last command was issued).
Homes the channel.
Moves to the specified absolute position. This command is most useful for absolutely-positioned systems.
Makes an incremental move. This command is useful any time you want to make a motion relative to where you are right now. Rovers are a case where this is almost always what you want.
Powers down the channel.
Powers down all channels of the controller that receives the command.
Moves at a particular speed.
Sets the serial timeout. This affects all channels of the controller that receives the command.
Moves at a particular speed, incremental from the current speed. This is useful for cruise control: a negative increment will slow down, a positive increment will speed up, and a zero increment will hold the current speed.
Starts the channel. Also, the Kangaroo LED will shine brightly for a third of a second.
Sends a system command. These are mostly for advanced use cases.
Sets custom units for the channel. This command may be called after you start the channel but before you home it. If you do not set custom units, the units you have set up in DEScribe will be used. If you haven't set any, machine units will be used.