User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
102
void displayspeed(void)
{
uint8_t status1,status2,status3,status4;
bool valid1,valid2,valid3,valid4;
int32_t enc1= roboclaw.ReadEncM1(address, &status1, &valid1);
int32_t enc2 = roboclaw.ReadEncM2(address, &status2, &valid2);
int32_t speed1 = roboclaw.ReadSpeedM1(address, &status3, &valid3);
int32_t speed2 = roboclaw.ReadSpeedM2(address, &status4, &valid4);
terminal.print("Encoder1:");
if(valid1){
terminal.print(enc1,DEC);
terminal.print(" ");
terminal.print(status1,HEX);
terminal.print(" ");
}
else{
terminal.print("invalid ");
}
terminal.print("Encoder2:");
if(valid2){
terminal.print(enc2,DEC);
terminal.print(" ");
terminal.print(status2,HEX);
terminal.print(" ");
}
else{
terminal.print("invalid ");
}
terminal.print("Speed1:");
if(valid3){
terminal.print(speed1,DEC);
terminal.print(" ");
}
else{
terminal.print("invalid ");
}
terminal.print("Speed2:");
if(valid4){
terminal.print(speed2,DEC);
terminal.print(" ");
}
else{
terminal.print("invalid ");
}
terminal.println();
}