User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
5
8 - Drive Forward ......................................................................................... 66
9 - Drive Backwards ..................................................................................... 66
10 - Turn right ............................................................................................. 66
11 - Turn left ............................................................................................... 66
12 - Drive Forward or Backward (7 Bit) ........................................................... 66
13 - Turn Left or Right (7 Bit) ........................................................................ 66
Packet Serial - Arduino Example .................................................................... 67
Advance Packet Serial ....................................................................................... 69
Commands ................................................................................................. 69
21 - Read Firmware Version .......................................................................... 70
24 - Read Main Battery Voltage Level ............................................................. 70
25 - Read Logic Battery Voltage Level ............................................................. 70
26 - Set Minimum Logic Voltage Level ............................................................. 70
27 - Set Maximum Logic Voltage Level ............................................................ 71
48 - Read Motor PWM values ......................................................................... 71
49 - Read Motor Currents .............................................................................. 71
57 - Set Main Battery Voltages ...................................................................... 71
58 - Set Logic Battery Voltages ...................................................................... 71
59 - Read Main Battery Voltage Settings ......................................................... 71
60 - Read Logic Battery Voltage Settings ......................................................... 72
68 - Set M1 Default Duty Acceleration ............................................................ 72
69 - Set M2 Default Duty Acceleration ............................................................ 72
74 - Set S3, S4 and S5 Modes ....................................................................... 72
75 - Get S3, S4 amd S5 Modes ...................................................................... 73
76 - Set DeadBand for RC/Analog controls ...................................................... 73
77 - Read DeadBand for RC/Analog controls .................................................... 73
80 - Restore Defaults ................................................................................... 73
81 - Read Default Duty Acceleration Settings ................................................... 73
82 - Read Temperature ................................................................................. 73
83 - Read Temperature 2 .............................................................................. 73
90 - Read Status.......................................................................................... 74
91 - Read Encoder Mode ............................................................................... 74
92 - Set Motor 1 Encoder Mode ...................................................................... 74
93 - Set Motor 2 Encoder Mode ...................................................................... 74
94 - Write Settings to EEPROM ...................................................................... 75
95 - Read Settings from EEPROM ................................................................... 75
98 - Set Standard Cong Settings .................................................................. 76
99 - Read Standard Cong Settings ................................................................ 77
100 - Set CTRL Modes .................................................................................. 77
101 - Read CTRL Modes ................................................................................ 77
102 - Set CTRL1 .......................................................................................... 78
103 - Set CTRL2 .......................................................................................... 78
104 - Read CTRL Settings ............................................................................. 78
133 - Set M1 Max Current Limit ..................................................................... 78
134 - Set M2 Max Current Limit ..................................................................... 78
135 - Read M1 Max Current Limit ................................................................... 78
136 - Read M2 Max Current Limit ................................................................... 79
148 - Set PWM Mode .................................................................................... 79
149 - Read PWM Mode .................................................................................. 79