User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
87
BASICMICRO
17 - Read Quadrature Encoder Count/Value M2
Read M2 encoder count/position.
Send: [Address, 17]
Receive: [EncCnt(4 bytes), Status, CRC(2 bytes)]
Quadrature encoders have a range of 0 to 4,294,967,295. Absolute encoder values are
converted from an analog voltage into a value from 0 to 2047 for the full 2v range.
The Status byte tracks counter underow, direction and overow. The byte value represents:
Bit0 - Counter Underow (1= Underow Occurred, Cleared After Reading)
Bit1 - Direction (0 = Forward, 1 = Backwards)
Bit2 - Counter Overow (1= Underow Occurred, Cleared After Reading)
Bit3 - Reserved
Bit4 - Reserved
Bit5 - Reserved
Bit6 - Reserved
Bit7 - Reserved
18 - Read Encoder Speed M1
Read M1 counter speed. Returned value is in pulses per second. RoboClaw keeps track of how
many pulses received per second for both encoder channels.
Send: [Address, 18]
Receive: [Speed(4 bytes), Status, CRC(2 bytes)]
Status indicates the direction (0 – forward, 1 - backward).
19 - Read Encoder Speed M2
Read M2 counter speed. Returned value is in pulses per second. RoboClaw keeps track of how
many pulses received per second for both encoder channels.
Send: [Address, 19]
Receive: [Speed(4 bytes), Status, CRC(2 bytes)]
Status indicates the direction (0 – forward, 1 - backward).
20 - Reset Quadrature Encoder Counters
Will reset both quadrature decoder counters to zero. This command applies to quadrature
encoders only.
Send: [Address, 20, CRC(2 bytes)]
Receive: [0xFF]