User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
4
USB Control ...................................................................................................... 49
USB Connection ........................................................................................... 49
USB Power .................................................................................................. 49
USB Comport and Baudrate ........................................................................... 49
RC Control ......................................................................................................... 50
RC Mode ..................................................................................................... 50
RC Mode With Mixing .................................................................................... 50
RC Mode with feedback for velocity or position control ...................................... 50
RC Mode Options ......................................................................................... 50
Pulse Ranges ............................................................................................... 50
RC Wiring Example ...................................................................................... 51
RC Control - Arduino Example ....................................................................... 52
Analog Control .................................................................................................. 53
Analog Mode ............................................................................................... 53
Analog Mode With Mixing .............................................................................. 53
Analog Mode with feedback for velocity or position control ................................. 53
Analog Mode Options .................................................................................... 53
Analog Wiring Example ................................................................................. 54
Stand Serial Control .......................................................................................... 55
Standard Serial Mode ................................................................................... 55
Serial Mode Baud Rates ................................................................................ 55
Standard Serial Command Syntax .................................................................. 55
Standard Serial Wiring Example ..................................................................... 56
Standard Serial Mode With Slave Select .......................................................... 57
Standard Serial - Arduino Example ................................................................. 58
Packet Serial ..................................................................................................... 59
Packet Serial Mode ....................................................................................... 59
Address ...................................................................................................... 59
Packet Modes .............................................................................................. 59
Packet Serial Baud Rate ................................................................................ 59
Serial Mode Options ..................................................................................... 59
Packet Timeout ............................................................................................ 60
Packet Acknowledgement .............................................................................. 60
CRC16 Checksum Calculation ........................................................................ 60
CRC16 Checksum Calculation for Received data ............................................... 60
Easy to use Libraries .................................................................................... 60
Handling values larger than a byte ................................................................. 61
Packet Serial Wiring ..................................................................................... 62
Multi-Unit Packet Serial Wiring ....................................................................... 63
Commands 0 - 7 Compatibility Commands ...................................................... 64
0 - Drive Forward M1 .................................................................................... 64
1 - Drive Backwards M1 ................................................................................ 64
2 - Set Minimum Main Voltage (Command 57 Preferred) .................................. 64
3 - Set Maximum Main Voltage (Command 57 Preferred) .................................. 65
4 - Drive Forward M2 .................................................................................... 65
5 - Drive Backwards M2 ................................................................................ 65
6 - Drive M1 (7 Bit) ..................................................................................... 65
7 - Drive M2 (7 Bit) ..................................................................................... 65
Commands 8 - 13 Mixed Mode Compatibility Commands ................................... 66