Schematic

Operating the Controller in RC mode
Advanced Digital Motor Controller User Manual 75
Note that it is possible to set a priority level to “None”. For example, the priority table
1 - Serial
2 - RC Pulse
3 - None
will only arbitrate and use Serial or RC Pulse commands.
USB vs Serial Communication Arbitration
On controllers equipped with a USB port, commands may arrive through the RS232 or the
USB port at the same time. They are executed as they arrive in a first come first served
manner. Commands that are arriving via USB are replied on USB. Commands arriving via
the UART are replied on the UART. Redirection symbol for redirecting outputs to the other
port exists (e.g. a command can be made to respond on USB even though it arrived on
RS232).
CAN Commands Arbitration
On controllers fitted with a CAN interface, commands received via CAN are processed as
they arrive regardless if any other mode is active at the same time. Care must be taken to
avoid conflicting commands from different sources. Queries of operating parameters will
not interfere with queries from serial or USB.
Commands issued from MicroBasic scripts
When sending a Motor or Digital Output command from a MicroBasic script, it will be
interpreted by the controller the same way as a serial command (RS232 or USB). If a serial
command is received from the serial/USB port at the same time a command is sent from
the script, both will be accepted and this can cause conflicts if they are both relating to
the same channel. Care must be taken to avoid, for example, cases where the script com-
mands one motor to go to a set level while a serial command is received to set the motor
to a different level.
Important Warning
When running a script that sends motor command, make sure you click “Mute” in
the PC utility. Otherwise, the PC will be sending motor commands continuously and
these will interfere with the script commands.
Script commands are also subject to the serial Watchdog timer and share the same
priority level as Serial commands. Use the “Command Priorities” configuration to
set the priority of commands issued from the script vs commands received from the
Pulse Inputs or Analog Inputs.
Operating the Controller in RC mode
The controller can be directly connected to an R/C receiver. In this mode, the speed or
position information is contained in pulses whose width varies proportionally with the
joysticks’ positions. The controller mode is compatible with all popular brands of RC trans-
mitters.