Command timeout
By default, the Motoron will turn off its motors if it has not received a valid command in the last
1.5 seconds.
The details of the command timeout feature are documented in
. This means
that the motors will stop running if your microcontroller crashes, goes into programming/bootloader
mode, or stops running your motor control code for any other reason. You can send a “Set variable”
command to configure the timeout period or disable the feature altogether. Change the “Command
timeout” variable if you want to change the amount of time it takes for the Motoron to time out, or
change the “Error mask” variable if you want to disable the command timeout. The “Set variable”
command and all other commands are documented in
.
Motion parameters
You can send a “Set variable” command (documented in
) to configure how the motors
move. In particular, you can set acceleration and deceleration limits for each motor and each direction
of motion, which helps to reduce sudden current spikes or jerky motions.
The only Motoron setting that is stored in non-volatile memory is its I²C address. Every
other setting, including the motion parameters and command timeout, gets reset to
its default value whenever the Motoron powers on, resets, or receives a “Reinitialize”
command.
Motor control
Once you have taken care of the initialization and configuration described above, you are ready to run
some motors! See the “Set speed” and “Set all speeds” commands in
.
Pololu Motoron Motor Controller User’s Guide
© 2001–2022 Pololu Corporation
3. Getting started
Page 23 of 67