Manual

1, units 180 degrees = 5000 millivolt
Simplified Serial Commands
Kangaroo supports plain text TTL level simplified serial input. The default serial settings to use this mode
are 9600 baud, 8N1. All commands follow the same format. Spaces are ignored and can be added for
readability.
All commands consist of a channel number, followed by a comma, the command and a newline (Enter
key)
Channel Number tells which motor to move
Channel Number
Channel mode and result
1
Motor 1
2
Motor 2
D
Drive channel. Both motors .Forward/Backwards in Mixed Mode
T
Turn channel. Both motors. Right/Left in Mixed Mode
Motion Commands are used to command motion. They do not respond back
Command
Result
Examples
p
Position command. The motor will go to the
specified position, in units
1,p100
T,p45
s
Speed command. The motor will go at the
specified speed, in units per second
2, s-400
pi
Incremental position command. The motor
will go the specified increment from its
current position.
1,pi100
2.pi-333
si
Incremental speed command. The motor will
go faster or slower than its current speed by
the commanded increment.
2,si2
powerdown
Power down. This command will turn off the
motor and control system. You can still read
position and speed with the motor powered
off. This is used to allow the system to
freewheel or to save power.
1, powerdown
2, powerdown
A position and the speed command can be on one line. The
same can be done with incremental position commands. For
the combined commands, the speed cannot be negative. This
will make the device move to the commanded position at the
commanded speed.
1,p1000 s200
2,p-333 s10
D,pi100s5000