User Manual
RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
91
35 - Drive M1 With Signed Speed
Drive M1 using a speed value. The sign indicates which direction the motor will turn. This
command is used to drive the motor by quad pulses per second. Different quadrature encoders
will have different rates at which they generate the incoming pulses. The values used will differ
from one encoder to another. Once a value is sent the motor will begin to accelerate as fast as
possible until the dened rate is reached.
Send: [Address, 35, Speed(4 Bytes), CRC(2 bytes)]
Receive: [0xFF]
36 - Drive M2 With Signed Speed
Drive M2 with a speed value. The sign indicates which direction the motor will turn. This
command is used to drive the motor by quad pulses per second. Different quadrature encoders
will have different rates at which they generate the incoming pulses. The values used will differ
from one encoder to another. Once a value is sent, the motor will begin to accelerate as fast as
possible until the rate dened is reached.
Send: [Address, 36, Speed(4 Bytes), CRC(2 bytes)]
Receive: [0xFF]
37 - Drive M1 / M2 With Signed Speed
Drive M1 and M2 in the same command using a signed speed value. The sign indicates which
direction the motor will turn. This command is used to drive both motors by quad pulses per
second. Different quadrature encoders will have different rates at which they generate the
incoming pulses. The values used will differ from one encoder to another. Once a value is sent
the motor will begin to accelerate as fast as possible until the rate dened is reached.
Send: [Address, 37, SpeedM1(4 Bytes), SpeedM2(4 Bytes), CRC(2 bytes)]
Receive: [0xFF]
38 - Drive M1 With Signed Speed And Acceleration
Drive M1 with a signed speed and acceleration value. The sign indicates which direction the
motor will run. The acceleration values are not signed. This command is used to drive the motor
by quad pulses per second and using an acceleration value for ramping. Different quadrature
encoders will have different rates at which they generate the incoming pulses. The values used
will differ from one encoder to another. Once a value is sent the motor will begin to accelerate
incrementally until the rate dened is reached.
Send: [Address, 38, Accel(4 Bytes), Speed(4 Bytes), CRC(2 bytes)]
Receive: [0xFF]
The acceleration is measured in speed increase per second. An acceleration value of 12,000
QPPS with a speed of 12,000 QPPS would accelerate a motor from 0 to 12,000 QPPS in 1
second. Another example would be an acceleration value of 24,000 QPPS and a speed value of
12,000 QPPS would accelerate the motor to 12,000 QPPS in 0.5 seconds.