User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
71
BASICMICRO
27 - Set Maximum Logic Voltage Level
Note: This command is included for backwards compatibility. We recommend you use
command 58 instead.
Sets logic input (LB- / LB+) maximum voltage level. The valid data range is 30 - 175 (6V -
34V). RoboClaw will shutdown with an error if the voltage is above this level. The formula for
calculating the voltage is: Desired Volts x 5.12 = Value. Examples of valid values are 12V = 62,
16V = 82 and 24V = 123.
Send: [Address, 27, Value, CRC(2 bytes)]
Receive: [0xFF]
48 - Read Motor PWM values
Read the current PWM output values for the motor channels. The values returned are +/-32767.
The duty cycle percent is calculated by dividing the Value by 327.67.
Send: [Address, 48]
Receive: [M1 PWM(2 bytes), M2 PWM(2 bytes), CRC(2 bytes)]
49 - Read Motor Currents
Read the current draw from each motor in 10ma increments. The amps value is calculated by
dividing the value by 100.
Send: [Address, 49]
Receive: [M1 Current(2 bytes), M2 Currrent(2 bytes), CRC(2 bytes)]
57 - Set Main Battery Voltages
Set the Main Battery Voltage cutoffs, Min and Max. Min and Max voltages are in 10th of a volt
increments. Multiply the voltage to set by 10.
Send: [Address, 57, Min(2 bytes), Max(2bytes, CRC(2 bytes)]
Receive: [0xFF]
58 - Set Logic Battery Voltages
Set the Logic Battery Voltages cutoffs, Min and Max. Min and Max voltages are in 10th of a volt
increments. Multiply the voltage to set by 10.
Send: [Address, 58, Min(2 bytes), Max(2bytes, CRC(2 bytes)]
Receive: [0xFF]
59 - Read Main Battery Voltage Settings
Read the Main Battery Voltage Settings. The voltage is calculated by dividing the value by 10
Send: [Address, 59]
Receive: [Min(2 bytes), Max(2 bytes), CRC(2 bytes)]