User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

45 - Buffered M2 Drive With Signed Speed, Accel And Distance

Drive M2 with a speed, acceleration and distance value. The sign indicates which direction the

motor will run. The acceleration and distance values are not signed. This command is used to

control the motors top speed, total distanced traveled and at what incremental acceleration

value to use until the top speed is reached. Each motor channel M1 and M2 have separate

buffers. This command will execute immediately if no other command for that channel is

executing, otherwise the command will be buffered in the order it was sent. Any buffered

or executing command can be stopped when a new command is issued by setting the Buffer

argument. All values used are in quad pulses per second.

Send: [Address, 45, Accel(4 bytes), Speed(4 Bytes), Distance(4 Bytes),

Buffer, CRC(2 bytes)]

Receive: [0xFF]

The Buffer argument can be set to a 1 or 0. If a value of 0 is used the command will be buffered

and executed in the order sent. If a value of 1 is used the current running command is stopped,

any other commands in the buffer are deleted and the new command is executed.

46 - Buffered Drive M1 / M2 With Signed Speed, Accel And Distance

Drive M1 and M2 with a speed, acceleration and distance value. The sign indicates which

direction the motor will run. The acceleration and distance values are not signed. This command

is used to control both motors top speed, total distanced traveled and at what incremental

acceleration value to use until the top speed is reached. Each motor channel M1 and M2 have

separate buffers. This command will execute immediately if no other command for that channel

is executing, otherwise the command will be buffered in the order it was sent. Any buffered

or executing command can be stopped when a new command is issued by setting the Buffer

argument. All values used are in quad pulses per second.

Send: [Address, 46, Accel(4 Bytes), SpeedM1(4 Bytes), DistanceM1(4 Bytes),

SpeedM2(4 bytes), DistanceM2(4 Bytes), Buffer, CRC(2 bytes)]

Receive: [0xFF]

The Buffer argument can be set to a 1 or 0. If a value of 0 is used the command will be buffered

and executed in the order sent. If a value of 1 is used the current running command is stopped,

any other commands in the buffer are deleted and the new command is executed.

47 - Read Buffer Length

Read both motor M1 and M2 buffer lengths. This command can be used to determine how many

commands are waiting to execute.

Send: [Address, 47]

Receive: [BufferM1, BufferM2, CRC(2 bytes)]

The return values represent how many commands per buffer are waiting to be executed. The

maximum buffer size per motor is 64 commands(0x3F). A return value of 0x80(128) indicates

the buffer is empty. A return value of 0 indiciates the last command sent is executing. A value of

0x80 indicates the last command buffered has nished.