User Manual
MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
180
SPEED2
Syntax
speed2 speed1,accel1, speed2,accel2
• Speed1...Speed2 - is a variable, constant or expression that sets the speed to run the motor at.
• Accel1...Accel2 - is a variable, constant or expression that sets the acceleration/decceleration
to use when the motor speeds up or slows down to the specied speed.
• Buffer - is a variable, constant or expression that determines if the command will be buffered(0)
or execute immediately(1) overriding any currently running command on the motor.
Description
The SPEED2 command is used to control both motors using encoders with a Velocity PID control
algorithm. The user must have tuned the Velocity PID settings for the motors before using the
SPEED2 command. With a properly tuned Velocity PID accurate speed control can be acheived
by the motors. Note that multiple SPEED2 commands can be chained together by buffering the
commands. As each command nishes the next will start executing.
;example assumes velocity PID settings are correct set.
main
speed2 12000,12000,0,12000
pause 1000
speed2 0,12000,12000,12000
pause 1000
speed2 -12000,12000,0,12000
pause 1000
speed2 0,12000,-12000,12000
pause 1000
goto main