CMD
Hex
Description
B
0x42 Motor 2: Brake while stopping.
C
0x43 Motor 1 & 2: Brake while stopping.
Encoder Reset Commands
r
0x72 Motor 1: Reset Encoder to zero
s
0x73 Motor 2: Reset Encoder to zero
These commands are issued on command register (0x41).
Motor Command Register Explained
Each motor has two command registers (Register A and Register B).
In current release Register B is reserved for future use and must be
set to zero.
Bits in Register A should be set to 1 to avail functionality as
described below.
Register
Bit
Turn this bit to 1 for following functionality
Least
significant
bit (bit 0)
Speed control of your motor.
The NXTMMX will
honor speed values specified in the speed register for
the respective motor.
Bit 1
Ramp the speed up or down.
While starting the motor
or changing speed, the NXTMMX will ramp up or ramp
down the power to new value.
If this bit is zero, the power changes are sudden, e.g.
full power is applied to motors as they start.
Bit 2
Relative change based on encoder values.
This is
useful when Bit 3 is turned on, and in this case, the
NXTMMX will make a relative movement from last seen
Encoder position (it will add the new Encoder position
to old position and move to that resulting position).
Useful when turning by degrees or rotations.
If this bit is 0, the Encoder positions are taken as
absolute values.
Bit 3
Encoder control of your motor.
The NXTMMX will
honor Encoder values specified in Encoder position
register for respective motor. If speed values are also
specified, and speed bit is set on, motors will rotate to
new encoder position with the specified speed.
Bit 4
Brake or Float at the completion of motor
movement.
If this bit is 1, motor will Brake at the
completion, otherwise it will float.
Bit 5
Encoder active feedback.
This bit is used when
Encoder control is used. If this bit is set to 1 at the
completion of motor movement, the NXTMMX will
continue to hold the Encoder position (i.e. if motor is
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