BASICMICRO Roboclaw 2x120A, User Manual

Page: 90 / 101

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual 90
BASICMICRO
Advanced Motor Control
Advanced Motor Control Commands
The following commands are used to control motor speeds, acceleration distance and position
using encoders. The PID can also be manually adjusted using Advanced Motor Control
Commands.
Command Description
28 Set Velocity PID Constants for M1.
29 Set Velocity PID Constants for M2.
32 Drive M1 With Signed Duty Cycle. (Encoders not required)
33 Drive M2 With Signed Duty Cycle. (Encoders not required)
34 Drive M1 / M2 With Signed Duty Cycle. (Encoders not required)
35 Drive M1 With Signed Speed.
36 Drive M2 With Signed Speed.
37 Drive M1 / M2 With Signed Speed.
38 Drive M1 With Signed Speed And Acceleration.
39 Drive M2 With Signed Speed And Acceleration.
40 Drive M1 / M2 With Signed Speed And Acceleration.
41 Drive M1 With Signed Speed And Distance. Buffered.
42 Drive M2 With Signed Speed And Distance. Buffered.
43 Drive M1 / M2 With Signed Speed And Distance. Buffered.
44 Drive M1 With Signed Speed, Acceleration and Distance. Buffered.
45 Drive M2 With Signed Speed, Acceleration and Distance. Buffered.
46 Drive M1 / M2 With Signed Speed, Acceleration And Distance. Buffered.
47 Read Buffer Length.
50 Drive M1 / M2 With Individual Signed Speed and Acceleration
51 Drive M1 / M2 With Individual Signed Speed, Accel and Distance
52 Drive M1 With Signed Duty and Accel. (Encoders not required)
53 Drive M2 With Signed Duty and Accel. (Encoders not required)
54 Drive M1 / M2 With Signed Duty and Accel. (Encoders not required)
55 Read Motor 1 Velocity PID Constants
56 Read Motor 2 Velocity PID Constants
61 Set Position PID Constants for M1.
62 Set Position PID Constants for M2
63 Read Motor 1 Position PID Constants
64 Read Motor 2 Position PID Constants
65 Drive M1 with Speed, Accel, Deccel and Position
66 Drive M2 with Speed, Accel, Deccel and Position
67 Drive M1 / M2 with Speed, Accel, Deccel and Position
119 Drive M1 with Position.
120 Drive M2 with Position.
121 Drive M1/M2 with Position.
122 Drive M1 with Speed and Position.
123 Drive M2 with Speed and Position.
124 Drive M1/M2 with Speed and Postion.