Pololu Corporation M2H24v14, Руководство пользователя, Страница: 61 / 67

Command encoding:
0xAC lower 7 bits of flags upper 3 bits of flags
Description:
For each bit in the flags argument that is 1, this command sets the corresponding bit in the “Status
flags” variable to 1. The “Status flags” variable and all of its bits are documented in Section 8 .
Set speed
Arguments
Mode: normal, now, or buffered
Motor: a motor number
Speed : from −800 to 800
Response None
Arduino library
void setSpeed(uint8_t motor, int16_t speed)
void setSpeedNow(uint8_t motor, int16_t speed)
void setBufferedSpeed(uint8_t motor, int16_t speed)
Command encoding:
0xD1 for normal mode
0xD2 for now mode
0xD4 for buffered mode
motor lower 7 bits of speed upper 7 bits of speed
Description:
The motor argument should be between 1 and the number of motors that your Motoron supports.
If it is invalid, the Motoron reports a protocol error.
The speed argument should be a speed between −800 and 800. If the specified speed is outside
this range, the Motoron will change it to the closest valid speed between −800 and 800. See
the documentation of the “Current speed” variable in
Section 8 for more details about what the
different speed values mean. The speed argument is encoded as a 14-bit two’s complement
[https://en.wikipedia.org/wiki/Two%27s_complement]
number.
The mode specifies when and how to apply the speed:
• Normal mode: The motor’s “Target speed” is changed. The “Current speed” will start
moving towards the target speed, obeying acceleration and deceleration limits. The
Pololu Motoron Motor Controller User’s Guide © 2001–2022 Pololu Corporation
9. Command reference Page 61 of 67