User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
5
BASICMICRO
RC Mode With Mixing .................................................................................... 51
RC Mode with feedback for velocity or position control ...................................... 51
RC Mode Options ......................................................................................... 51
Pulse Ranges ............................................................................................... 51
RC Wiring Example ...................................................................................... 52
Analog Control .................................................................................................. 53
Analog Mode ............................................................................................... 53
Analog Mode With Mixing .............................................................................. 53
Analog Mode with feedback for velocity or position control ................................. 53
Analog Mode Options .................................................................................... 53
Analog Wiring Example ................................................................................. 54
Standard Serial Control ..................................................................................... 55
Standard Serial Mode ................................................................................... 55
Serial Mode Baud Rates ................................................................................ 55
Standard Serial Command Syntax .................................................................. 55
Standard Serial Wiring Example ..................................................................... 56
Standard Serial Mode With Slave Select .......................................................... 57
Packet Serial ..................................................................................................... 58
Packet Serial Mode ....................................................................................... 58
Address ...................................................................................................... 58
Packet Modes .............................................................................................. 58
Packet Serial Baud Rate ................................................................................ 58
Serial Mode Options ..................................................................................... 58
Packet Timeout ............................................................................................ 59
Packet Acknowledgement .............................................................................. 59
CRC16 Checksum Calculation ........................................................................ 59
CRC16 Checksum Calculation for Received data ............................................... 59
Easy to use Libraries .................................................................................... 59
Handling values larger than a byte ................................................................. 60
Packet Serial Wiring ..................................................................................... 61
Multi-Unit Packet Serial Wiring ....................................................................... 62
Commands 0 - 7 Compatibility Commands ...................................................... 63
0 - Drive Forward M1 .................................................................................... 63
1 - Drive Backwards M1 ................................................................................ 63
2 - Set Minimum Main Voltage (Command 57 Preferred) .................................. 63
3 - Set Maximum Main Voltage (Command 57 Preferred) .................................. 64
4 - Drive Forward M2 .................................................................................... 64
5 - Drive Backwards M2 ................................................................................ 64
6 - Drive M1 (7 Bit) ..................................................................................... 64
7 - Drive M2 (7 Bit) ..................................................................................... 64
Commands 8 - 13 Mixed Mode Compatibility Commands ................................... 65
8 - Drive Forward ......................................................................................... 65
9 - Drive Backwards ..................................................................................... 65
10 - Turn right ............................................................................................. 65
11 - Turn left ............................................................................................... 65
12 - Drive Forward or Backward (7 Bit) ........................................................... 65
13 - Turn Left or Right (7 Bit) ........................................................................ 65