User Manual
MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
99
51 - Buffered Drive M1 / M2 With Signed Speed, Individual 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 buffers. This command will execute immediately if no other command for that channel
is executing, otherwise the command will be buffered in the order it was sent. Any buffered
or executing command can be stopped when a new command is issued by setting the Buffer
argument. All values used are in quad pulses per second.
Send: [Address, 51, AccelM1(4 Bytes), SpeedM1(4 Bytes), DistanceM1(4 Bytes),
AccelM2(4 Bytes), SpeedM2(4 bytes), DistanceM2(4 Bytes), Buffer, CRC(2 bytes)]
Receive: [0xFF]
The Buffer argument can be set to a 1 or 0. If a value of 0 is used the command will be buffered
and executed in the order sent. If a value of 1 is used the current running command is stopped,
any other commands in the buffer are deleted and the new command is executed.
52 - Drive M1 With Signed Duty And Acceleration
Drive M1 with a signed duty and acceleration value. The sign indicates which direction the motor
will run. The acceleration values are not signed. This command is used to drive the motor by
PWM and using an acceleration value for ramping. Accel is the rate per second at which the duty
changes from the current duty to the specied duty.
Send: [Address, 52, Duty(2 bytes), Accel(2 Bytes), CRC(2 bytes)]
Receive: [0xFF]
The duty value is signed and the range is -32768 to +32767(eg. +-100% duty). The accel value
range is 0 to 655359(eg maximum acceleration rate is -100% to 100% in 100ms).
53 - Drive M2 With Signed Duty And Acceleration
Drive M1 with a signed duty and acceleration value. The sign indicates which direction the motor
will run. The acceleration values are not signed. This command is used to drive the motor by
PWM and using an acceleration value for ramping. Accel is the rate at which the duty changes
from the current duty to the specied dury.
Send: [Address, 53, Duty(2 bytes), Accel(2 Bytes), CRC(2 bytes)]
Receive: [0xFF]
The duty value is signed and the range is -32768 to +32767 (eg. +-100% duty). The accel value
range is 0 to 655359 (eg maximum acceleration rate is -100% to 100% in 100ms).