User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

45 - Buered M2 Drive With Signed Speed, Accel And Distance

Drive M2 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, 45, 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.

46 - Buered Drive M1 / M2 With Signed Speed, Accel And Distance

Drive M1 and M2 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 both 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, 46, Accel(4 Bytes), 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.

47 - Read Buer Length

Read both motor M1 and M2 buer lengths. This command can be used to determine how many

commands are waiting to execute.

Send: [Address, 47]

Receive: [BuerM1, BuerM2, CRC(2 bytes)]

The return values represent how many commands per buer are waiting to be executed. The

maximum buer size per motor is 64 commands(0x3F). A return value of 0x80(128) indicates

the buer is empty. A return value of 0 indiciates the last command sent is executing. A value of

0x80 indicates the last command buered has nished.