User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
6
Encoders ........................................................................................................... 80
Cloose Loop Modes....................................................................................... 80
Encoder Tunning .......................................................................................... 80
Quadrature Encoders Wiring .......................................................................... 80
Absolute Encoder Wiring ............................................................................... 81
Encoder Tuning ............................................................................................ 82
Auto Tuning ................................................................................................ 82
Manual Velocity Calibration Procedure ............................................................. 83
Manual Position Calibration Procedure ............................................................. 83
Encoder Commands ..................................................................................... 85
16 - Read Encoder Count/Value M1 ................................................................ 85
17 - Read Quadrature Encoder Count/Value M2 ................................................ 86
18 - Read Encoder Speed M1 ......................................................................... 86
19 - Read Encoder Speed M2 ......................................................................... 86
20 - Reset Quadrature Encoder Counters ........................................................ 86
22 - Set Quadrature Encoder 1 Value .............................................................. 87
23 - Set Quadrature Encoder 2 Value .............................................................. 87
30 - Read Raw Speed M1 .............................................................................. 87
31 - Read Raw Speed M2 .............................................................................. 87
78 - Read Encoder Counters .......................................................................... 87
79 - Read ISpeeds Counters .......................................................................... 87
Advance Motor Control ...................................................................................... 88
Advanced Motor Control Commands ............................................................... 88
28 - Set Velocity PID Constants M1 ................................................................ 89
29 - Set Velocity PID Constants M2 ................................................................ 89
32 - Drive M1 With Signed Duty Cycle ............................................................ 89
33 - Drive M2 With Signed Duty Cycle ............................................................ 90
34 - Drive M1 / M2 With Signed Duty Cycle ..................................................... 90
35 - Drive M1 With Signed Speed ................................................................... 91
36 - Drive M2 With Signed Speed ................................................................... 91
37 - Drive M1 / M2 With Signed Speed ........................................................... 91
38 - Drive M1 With Signed Speed And Acceleration ........................................... 91
39 - Drive M2 With Signed Speed And Acceleration ........................................... 92
40 - Drive M1 / M2 With Signed Speed And Acceleration ................................... 92
41 - Buffered M1 Drive With Signed Speed And Distance ................................... 92
42 - Buffered M2 Drive With Signed Speed And Distance ................................... 93
43 - Buffered Drive M1 / M2 With Signed Speed And Distance ........................... 93
44 - Buffered M1 Drive With Signed Speed, Accel And Distance .......................... 93
45 - Buffered M2 Drive With Signed Speed, Accel And Distance .......................... 94
46 - Buffered Drive M1 / M2 With Signed Speed, Accel And Distance................... 94
47 - Read Buffer Length ................................................................................ 94
50 - Drive M1 / M2 With Signed Speed And Individual Acceleration ..................... 95
51 - Buffered Drive M1 / M2 With Signed Speed, Individual Accel And Distance .... 95
52 - Drive M1 With Signed Duty And Acceleration ............................................. 95
53 - Drive M2 With Signed Duty And Acceleration ............................................. 96
54 - Drive M1 / M2 With Signed Duty And Acceleration ..................................... 96
55 - Read Motor 1 Velocity PID and QPPS Settings............................................ 96
56 - Read Motor 2 Velocity PID and QPPS Settings............................................ 96
61 - Set Motor 1 Position PID Constants .......................................................... 96
62 - Set Motor 2 Position PID Constants .......................................................... 97
63 - Read Motor 1 Position PID Constants ....................................................... 97
64 - Read Motor 2 Position PID Constants ....................................................... 97