User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
70
2.2.13 Commands 8 - 13 Mixed Mode Compatibility Commands
The following commands are mix mode compatibility commands used to control speed and turn
using differential steering. Before a command is executed valid drive and turn data is required.
You only need to send both data packets once. After receiving both valid drive and turn data
RoboClaw will begin to operate the motors. At this point you only need to update turn or drive
data as needed.
8 - Drive Forward
Drive forward in mix mode. Valid data range is 0 - 127. A value of 0 = full stop and 127 = full
forward.
Send: [Address, 8, Value, CRC(2 bytes)]
Receive: [0xFF]
9 - Drive Backwards
Drive backwards in mix mode. Valid data range is 0 - 127. A value of 0 = full stop and 127 = full
reverse.
Send: [Address, 9, Value, CRC(2 bytes)]
Receive: [0xFF]
10 - Turn right
Turn right in mix mode. Valid data range is 0 - 127. A value of 0 = stop turn and 127 = full
speed turn.
Send: [Address, 10, Value, CRC(2 bytes)]
Receive: [0xFF]
11 - Turn left
Turn left in mix mode. Valid data range is 0 - 127. A value of 0 = stop turn and 127 = full speed
turn.
Send: [Address, 11, Value, CRC(2 bytes)]
Receive: [0xFF]
12 - Drive Forward or Backward (7 Bit)
Drive forward or backwards. Valid data range is 0 - 127. A value of 0 = full backward, 64 = stop
and 127 = full forward.
Send: [Address, 12, Value, CRC(2 bytes)]
Receive: [0xFF]
13 - Turn Left or Right (7 Bit)
Turn left or right. Valid data range is 0 - 127. A value of 0 = full left, 0 = stop turn and 127 = full
right.
Send: [Address, 13, Value, CRC(2 bytes)]
Receive: [0xFF]