User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
80
Timeout
The timeout in millisecond for the signal to be considered idle. This is used to determine when a
lower priority level should be switched to.
LoadHome
value to set the position to on a LoadHome action. This is usually used to zero a quadrature
encoder input.
Minimum...Maximum
The minimum and maximum position values. Any values higher or lower than these settings will
trigger a MinAction or MaxAction if set.
Center: The middle point of the control input.
Deadband
For input signals that have slop near their center point Deadband can be set to zero this area. It
can also be used to provide a large area where there is no effect on the position value, centered
on the Center position.
PowerExp
The exponent setting. Values from -8*65536 to 8*65536 A value of 0 provides a linear control
inpug. Values larger then 0 will provide more control resolution near the endpoints of a control
input, while values less then 0 increase the control resolution near the control inputs center
point.
PowerMin
Sets an absolute minimum signal value. For exampel if PowerMin is set to 100 then a any signal
value >= 0 will be offset to 100. Any control input < 0 will be offset to -100.
MinOutput...MaxOutput
When the signal input is used to command a motor channel the signal can be scaled to any range
of output. The default setting is for the full PWM range of a motor channel, -2068 to +2068. For
example in some cases it may be prefered to limit the reverse power range on a motor(such as
on a wheeled vehicle). Reducing the negative range will reduce the maximum power that can be
applied in reverse.
Send: [Address,
143,
Pin(1 byte),
Type(1 byte),
Mode (1 byte),
Target (1 byte),
MinAction (1 byte),
MaxAction (1 byte),
Timeout(4 bytes),
LoadHome(4 bytes),
Minimum(4 bytes),
Maximum(4 bytes),
Center(4 bytes),
Deadband(4 bytes),
PowerExp(4 bytes),
MinOutput(4 bytes),
MaxOutput(4 bytes),
PowerMin(4 bytes),
CRC(2 bytes)]
Receive: [0xFF]