User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
95
BASICMICRO
42 - Buered M2 Drive With Signed Speed And Distance
Drive M2 with a speed and distance value. The sign indicates which direction the motor will run.
The distance value is not signed. This command is buered. 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, 42, 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.
43 - Buered Drive M1 / M2 With Signed Speed And Distance
Drive M1 and M2 with a speed and distance value. The sign indicates which direction the motor
will run. The distance value is not signed. This command is buered. 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, 43, SpeedM1(4 Bytes), DistanceM1(4 Bytes),
SpeedM2(4 Bytes), DistanceM2(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.
44 - Buered M1 Drive With Signed Speed, Accel And Distance
Drive M1 with a speed, acceleration and distance value. The sign indicates which direction the
motor will run. The acceleration and distance values are not signed. This command is used to
control the motors top speed, total distanced traveled and at what incremental acceleration value
to use until the top speed is reached. 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, 44, Accel(4 bytes), 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.