RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
24
BASICMICRO
(2) Graph Channels
Function
Description
Scale
Sets vertical scale to fit the range of the specified Channel.
Channels
Select data to display on the channel. The channel is graphed in the color
shown. Channel options:
• M1 or M2 Setpoint - User input for channel
• M1 or M2 PWM - Motor PWM output
• M1 or M2 Velocity - Motors Encoder Velocity
• M1 or M2 Position - Motors Encoder Position
• M1 or M2 Current - Motor running current
• Temperature
• Main Battery Voltage
• Logic Battery Voltage
Clear
Clears channels graphed line.
(3) Position Settings
Function
Description
Velocity P
Proportional setting for velocity PID.
Velocity I
Integral setting for velocity PID.
Velocity D
Differential setting for velocity PID.
QPPS
Maximum speed of motor using encoder counts per second.
L
MCP only. Motor Inductance in Henries.
R
MCP only. Motor resistance in Ohms.
Position P
Proportional setting for position PID.
Position I
Integral setting for position PID.
Position D
Differential setting for position PID.
Max I
Maximum integral windup limit.
Deadzone
Zero position deadzone. Increases the "stopped" range.
Min Pos
Minimum encoder position.
Max Pos
Maximum encoder position.
