User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
70
Command Description
104 Read CTRLs
133 Set M1 Maximum Current
134 Set M2 Maximum Current
135 Read M1 Maximum Current
136 Read M2 Maximum Current
148 Set PWM Mode
149 Read PWM Mode
21 - Read Firmware Version
Read RoboClaw rmware version. Returns up to 48 bytes(depending on the Roboclaw model) and
is terminated by a line feed character and a null character.
Send: [Address, 21]
Receive: [“RoboClaw 10.2A v4.1.11”,10,0, CRC(2 bytes)]
The command will return up to 48 bytes. The return string includes the product name and
rmware version. The return string is terminated with a line feed (10) and null (0) character.
24 - Read Main Battery Voltage Level
Read the main battery voltage level connected to B+ and B- terminals. The voltage is returned in
10ths of a volt(eg 300 = 30v).
Send: [Address, 24]
Receive: [Value(2 bytes), CRC(2 bytes)]
25 - Read Logic Battery Voltage Level
Read a logic battery voltage level connected to LB+ and LB- terminals. The voltage is returned in
10ths of a volt(eg 50 = 5v).
Send: [Address, 25]
Receive: [Value.Byte1, Value.Byte0, CRC(2 bytes)]
26 - Set Minimum Logic Voltage Level
Note: This command is included for backwards compatibility. We recommend you use
command 58 instead.
Sets logic input (LB- / LB+) minimum voltage level. RoboClaw will shut down with an error if
the voltage is below this level. The voltage is set in .2 volt increments. A value of 0 sets the
minimum value allowed which is 6V. The valid data range is 0 - 140 (6V - 34V). The formula for
calculating the voltage is: (Desired Volts - 6) x 5 = Value. Examples of valid values are 6V = 0,
8V = 10 and 11V = 25.
Send: [Address, 26, Value, CRC(2 bytes)]
Receive: [0xFF]