Manual

DIP switches
The main Kangaroo operating modes and
options are set using a four position DIP
switch. The individual switches have
numbers printed on one side, and the word
“ON” on the opposite side. For the purposes
of this document, the switch is considered to
be ON when the toggle is towards the word
ON, and OFF when the toggle is towards the
number. The switches use flush actuators, so
a pen or similar tool is necessary to switch
them. This prevents accidental changing of
mode during operating.
OFF setting
ON setting
1 off: Analog input.
Connect 0-5V analog signals to
the S1 and S2 inputs.
1 on: Digital input
Connect TTL serial, TX to S1 and
RX to S2, or R/C servo signals to
S1 and S2
2 off: Analog feedback
Connect a 0-5V signal to
Feedback Input A
2 on: Quadrature feedback
Connect an encoder to
Feedback Inputs A and B
3 off: Velocity control
Motor speed and direction are
controlled by the input signal
3 on: Position control
Motor position is controlled by
the input signal
4 off: Mixed mode
The outputs are mixed together
for differential drive mobile
robots
4 on: Independent mode
The outputs are independent.
S1 controls motor 1 and S2
controls motor 2.
DIP switches 1 and 3 can be changed without redoing the tune. If switches 2 and 4 are different from the
setting recorded during the tune, the kangaroo will not operate the motors until the switch is changed
back or the system is tuned again.