Manual

Position Control
If the Kangaroo is set up for position control, it will directly command the position of the output
mechanism. Even if there is a load placed on the mechanism, the Kangaroo will apply as much power as
is necessary to put or keep the device in the commanded position. By changing the commanded
position, you can make the device move or stop in a controlled manner.
Examples of devices that are position controlled include
Assembly robots
R/C servos
3d printers
CNC machines
Positioning stages
Home automation for doors, screens or windows
Valves and flaps
Elevators
Humans
If DIP switch 3 is set to ON, Kangaroo x2 is in position control mode. You can use analog voltages, R/C
servo type signals or serial commands to set the position. You can change from position to speed control
at any time. It does not require a re-tune or a reboot.
Speed Limit
Pure position control will make the mechanism go to the commanded
position as quickly as the system is able. Often this is not desirable. For
example, with a lawn mowing robot, you would want the robot to move
to the commanded position (the end of the lawn) at a controlled speed.
This is done by adjusting the corresponding speed limit potentiometer,
or sending a combined position/speed command in one of the serial
modes. Because kangaroo has a true velocity controller, the system will
position at the commanded speed, even if it encounters a disturbance.
Rotating the potentiometer towards the Limit Switch inputs corresponds
to slower speed.
Mixed Mode
Setting DIP switch 4 to OFF selects Mixed mode. This is for differential drive mobile robots, or any other
system that utilizes tank style steering. In this mode, instead of having independent control of Motor 1
and Motor 2, there is a Drive and Turn channel. The system will tune moving both motors at once. The
reason this is done is many 4wd and especially tracked systems require much more power to turn than
they do to drive forwards and backwards. You can command Drive and Turn positions. For example, you
can tell the robot to drive forward 3 feet, turn 90 degrees and then drive forward 3 additional feet.
Speed Limit Potentiometer