User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
94
BASICMICRO
39 - Drive M2 With Signed Speed And Acceleration
Drive M2 with a signed speed and acceleration value. The sign indicates which direction the
motor will run. The acceleration value is not signed. This command is used to drive the motor
by quad pulses per second and using an acceleration value for ramping. Dierent quadrature
encoders will have dierent rates at which they generate the incoming pulses. The values used
will dier from one encoder to another. Once a value is sent the motor will begin to accelerate
incrementally until the rate dened is reached.
Send: [Address, 39, Accel(4 Bytes), Speed(4 Bytes), CRC(2 bytes)]
Receive: [0xFF]
The acceleration is measured in speed increase per second. An acceleration value of 12,000
QPPS with a speed of 12,000 QPPS would accelerate a motor from 0 to 12,000 QPPS in 1 second.
Another example would be an acceleration value of 24,000 QPPS and a speed value of 12,000
QPPS would accelerate the motor to 12,000 QPPS in 0.5 seconds.
40 - Drive M1 / M2 With Signed Speed And Acceleration
Drive M1 and M2 in the same command using one value for acceleration and two signed speed
values for each motor. The sign indicates which direction the motor will run. The acceleration
value is not signed. The motors are sync during acceleration. This command is used to drive
the motor by quad pulses per second and using an acceleration value for ramping. Dierent
quadrature encoders will have dierent rates at which they generate the incoming pulses. The
values used will dier from one encoder to another. Once a value is sent the motor will begin to
accelerate incrementally until the rate dened is reached.
Send: [Address, 40, Accel(4 Bytes), SpeedM1(4 Bytes), SpeedM2(4 Bytes), CRC(2 bytes)]
Receive: [0xFF]
The acceleration is measured in speed increase per second. An acceleration value of 12,000
QPPS with a speed of 12,000 QPPS would accelerate a motor from 0 to 12,000 QPPS in 1 second.
Another example would be an acceleration value of 24,000 QPPS and a speed value of 12,000
QPPS would accelerate the motor to 12,000 QPPS in 0.5 seconds.
41 - Buered M1 Drive With Signed Speed And Distance
Drive M1 with a signed speed and distance value. The sign indicates which direction the motor
will run. The distance value is not signed. This command is buered. This command is used to
control the top speed and total distance traveled by the motor. Each motor channel M1 and M2
have separate buers. This command will execute immediately if no other command for that
channel is executing, otherwise the command will be buered in the order it was sent. Any
buered or executing command can be stopped when a new command is issued by setting the
Buer argument. All values used are in quad pulses per second.
Send: [Address, 41, Speed(4 Bytes), Distance(4 Bytes), Buer, CRC(2 bytes)]
Receive: [0xFF]
The Buer argument can be set to a 1 or 0. If a value of 0 is used the command will be buered
and executed in the order sent. If a value of 1 is used the current running command is stopped,
any other commands in the buer are deleted and the new command is executed.