User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
93
28 - Set Velocity PID Constants M1
Several motor and quadrature combinations can be used with RoboClaw. In some cases the
default PID values will need to be tuned for the systems being driven. This gives greater
exibility in what motor and encoder combinations can be used. The RoboClaw PID system
consist of four constants starting with QPPS, P = Proportional, I= Integral and D= Derivative.
The defaults values are:
QPPS = 44000
P = 0x00010000
I = 0x00008000
D = 0x00004000
QPPS is the speed of the encoder when the motor is at 100% power. P, I, D are the default
values used after a reset. Command syntax:
Send: [Address, 28, D(4 bytes), P(4 bytes), I(4 bytes), QPPS(4 byte), CRC(2 bytes)]
Receive: [0xFF]
29 - Set Velocity PID Constants M2
Several motor and quadrature combinations can be used with RoboClaw. In some cases the
default PID values will need to be tuned for the systems being driven. This gives greater
exibility in what motor and encoder combinations can be used. The RoboClaw PID system
consist of four constants starting with QPPS, P = Proportional, I= Integral and D= Derivative.
The defaults values are:
QPPS = 44000
P = 0x00010000
I = 0x00008000
D = 0x00004000
QPPS is the speed of the encoder when the motor is at 100% power. P, I, D are the default
values used after a reset. Command syntax:
Send: [Address, 29, D(4 bytes), P(4 bytes), I(4 bytes), QPPS(4 byte), CRC(2 bytes)]Receive:
[0xFF]
32 - Drive M1 With Signed Duty Cycle
Drive M1 using a duty cycle value. The duty cycle is used to control the speed of the motor
without a quadrature encoder.
Send: [Address, 32, Duty(2 Bytes), CRC(2 bytes)]
Receive: [0xFF]
The duty value is signed and the range is -32767 to +32767 (eg. +-100% duty).