RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
99
BASICMICRO
62 - Set Motor 2 Position PID Constants
The RoboClaw Position PID system consist of seven constants starting with P = Proportional, I=
Integral and D= Derivative, MaxI = Maximum Integral windup, Deadzone in encoder counts,
MinPos = Minimum Position and MaxPos = Maximum Position. The defaults values are all zero.
Send: [Address, 62, D(4 bytes), P(4 bytes), I(4 bytes), MaxI(4 bytes),
Deadzone(4 bytes), MinPos(4 bytes), MaxPos(4 bytes), CRC(2 bytes)]
Receive: [0xFF]
Position constants are used only with the Position commands, 65,66 and 67 or when encoders
are enabled in RC/Analog modes.
63 - Read Motor 1 Position PID Constants
Read the Position PID Settings.
Send: [Address, 63]
Receive: [P(4 bytes), I(4 bytes), D(4 bytes), MaxI(4 byte), Deadzone(4 byte),
MinPos(4 byte), MaxPos(4 byte), CRC(2 bytes)]
64 - Read Motor 2 Position PID Constants
Read the Position PID Settings.
Send: [Address, 64]
Receive: [P(4 bytes), I(4 bytes), D(4 bytes), MaxI(4 byte), Deadzone(4 byte),
MinPos(4 byte), MaxPos(4 byte), CRC(2 bytes)]
65 - Buffered Drive M1 with signed Speed, Accel, Deccel and Position
Move M1 position from the current position to the specified new position and hold the new
position. Accel sets the acceleration value and deccel the decceleration value. QSpeed sets the
speed in quadrature pulses the motor will run at after acceleration and before decceleration.
Send: [Address, 65, Accel(4 bytes), Speed(4 Bytes), Deccel(4 bytes),
Position(4 Bytes), Buffer, CRC(2 bytes)]
Receive: [0xFF]
66 - Buffered Drive M2 with signed Speed, Accel, Deccel and Position
Move M2 position from the current position to the specified new position and hold the new
position. Accel sets the acceleration value and deccel the decceleration value. QSpeed sets the
speed in quadrature pulses the motor will run at after acceleration and before decceleration.
Send: [Address, 66, Accel(4 bytes), Speed(4 Bytes), Deccel(4 bytes),
Position(4 Bytes), Buffer, CRC(2 bytes)]
Receive: [0xFF]
