User Manual

RoboClaw Series

Brushed DC Motor Controllers

RoboClaw Series User Manual

BASICMICRO

50 - Drive M1 / M2 With Signed Speed And Individual Acceleration

Drive M1 and M2 in the same command using one value for acceleration and two signed speed

values for each motor. The sign indicates which direction the motor will run. The acceleration

value is not signed. The motors are sync during acceleration. This command is used to drive

the motor by quad pulses per second and using an acceleration value for ramping. Dierent

quadrature encoders will have dierent rates at which they generate the incoming pulses. The

values used will dier from one encoder to another. Once a value is sent the motor will begin to

accelerate incrementally until the rate dened is reached.

Send: [Address, 50, AccelM1(4 Bytes), SpeedM1(4 Bytes), AccelM2(4 Bytes),

SpeedM2(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.

51 - Buered Drive M1 / M2 With Signed Speed, Individual 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 buers. This command will execute immediately if no other command for that channel

is executing, otherwise the command will be buered in the order it was sent. Any buered

or executing command can be stopped when a new command is issued by setting the Buer

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

Send: [Address, 51, AccelM1(4 Bytes), SpeedM1(4 Bytes), DistanceM1(4 Bytes),

AccelM2(4 Bytes), SpeedM2(4 bytes), DistanceM2(4 Bytes), Buer, CRC(2 bytes)]

Receive: [0xFF]

The Buer argument can be set to a 1 or 0. If a value of 0 is used the command will be buered

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

any other commands in the buer are deleted and the new command is executed.

52 - Drive M1 With Signed Duty And Acceleration

Drive M1 with a signed duty 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

PWM and using an acceleration value for ramping. Accel is the rate per second at which the duty

changes from the current duty to the specied duty.

Send: [Address, 52, Duty(2 bytes), Accel(2 Bytes), CRC(2 bytes)]

Receive: [0xFF]

The duty value is signed and the range is -32768 to +32767(eg. +-100% duty). The accel value

range is 0 to 655359(eg maximum acceleration rate is -100% to 100% in 100ms).