BASICMICRO Roboclaw 2x120A, User Manual

Page: 66 / 101

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual 66
BASICMICRO
Advanced Packet Serial
Commands
The following commands are used to read RoboClaw status information, version information and
to set or read configuration values. All commands sent to RoboClaw need to be signed with a
CRC16 (Cyclic Redundancy Check of 2 bytes) to validate each packet it received. This is more
complex than a simple checksum but prevents errors that could otherwise cause unexpected
actions to execute on the Roboclaw. See Packet Serial section of this manual for an explanation
on how to create the CRC16 values.
Command Description
14 Set Serial Timeout
15 Read Serial Timeout
21 Read Firmware Version
24 Read Main Battery Voltage
25 Read Logic Battery Voltage
26 Set Minimum Logic Voltage Level
27 Set Maximum Logic Voltage Level
48 Read Motor PWMs
49 Read Motor Currents
57 Set Main Battery Voltages
58 Set Logic Battery Voltages
59 Read Main Battery Voltage Settings
60 Read Logic Battery Voltage Settings
68 Set default duty cycle acceleration for M1
69 Set default duty cycle acceleration for M2
70 Set Default Speed for M1
71 Set Default Speed for M2
72 Read Default Speed Settings
74 Set S3,S4 and S5 Modes
75 Read S3,S4 and S5 Modes
76 Set DeadBand for RC/Analog controls
77 Read DeadBand for RC/Analog controls
80 Restore Defaults
81 Read Default Duty Cycle Accelerations
82 Read Temperature
83 Read Temperature 2
90 Read Status
91 Read Encoder Modes
92 Set Motor 1 Encoder Mode
93 Set Motor 2 Encoder Mode
94 Write Settings to EEPROM
95 Read Settings from EEPROM