User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

101

Speed Controlled by Quadrature Encoders - Arduino Example

The following example was written using an Arduino UNO using packet serial wiring and

quadrature encoder wiring diagrams. The example will command a 4wheel robot to move

forward, backward, right turn and left turn slowly. You can change the speed by adjusting the

value of Speed and Speed2 variables. Additional example programs can be downloaded from

Ionmc.com.

//Set mode 7(packet serial address 0x80) and mode 4(38400)

//Includes required to use Roboclaw library

#include "BMSerial.h"

#include "RoboClaw.h"

#dene SPEED 12000

#dene SPEED2 12000

//Roboclaw Address

#dene address 0x80

//Velocity PID coefcients

#dene Kp 1.0

#dene Ki 0.5

#dene Kd 0.25

#dene qpps 44000

//Dente terminal for display. Use hardware serial pins 0 and 1

BMSerial terminal(0,1);

//Setup communcaitions with roboclaw. Use pins 10 and 11 with 10ms timeout

RoboClaw roboclaw(10,11,10000);

long speed;

long speed2;

void setup() {

//Open terminal and roboclaw serial ports

terminal.begin(57600);

roboclaw.begin(38400);

speed = SPEED;

speed2 = SPEED2;

//Set PID Coefcients

roboclaw.SetM1VelocityPID(address,Kd,Kp,Ki,qpps);

roboclaw.SetM2VelocityPID(address,Kd,Kp,Ki,qpps);

}