User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
74
90 - Read Status
Read the current unit status.
Send: [Address, 90]
Receive: [Status, CRC(2 bytes)]
Function Status Bit Mask
Normal 0x0000
M1 OverCurrent Warning 0x0001
M2 OverCurrent Warning 0x0002
E-Stop 0x0004
Temperature Error 0x0008
Temperature2 Error 0x0010
Main Battery High Error 0x0020
Logic Battery High Error 0x0040
Logic Battery Low Error 0x0080
M1 Driver Fault 0x0100
M2 Driver Fault 0x0200
Main Battery High Warning 0x0400
Main Battery Low Warning 0x0800
Termperature Warning 0x1000
Temperature2 Warning 0x2000
M1 Home 0x4000
M2 Home 0x8000
91 - Read Encoder Mode
Read the encoder mode for both motors.
Send: [Address, 91]
Receive: [Enc1Mode, Enc2Mode, CRC(2 bytes)]
Encoder Mode bits
Bit 7 Enable RC/Analog Encoder support
Bit 6-1 N/A
Bit 0 Quadrature(0)/Absolute(1)
92 - Set Motor 1 Encoder Mode
Set the Encoder Mode for motor 1. See command 91.
Send: [Address, 92, Mode, CRC(2 bytes)]
Receive: [0xFF]
93 - Set Motor 2 Encoder Mode
Set the Encoder Mode for motor 2. See command 91.
Send: [Address, 93, Mode, CRC(2 bytes)]
Receive: [0xFF]