BASICMICRO RoboClaw Series - Page 6

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
6
BASICMICRO
Advanced Packet Serial ..................................................................................... 66
Commands ................................................................................................. 66
14 - Set Serial Timeout ................................................................................ 66
15 - Read Serial Timeout ............................................................................. 66
21 - Read Firmware Version .......................................................................... 68
24 - Read Main Battery Voltage Level ............................................................. 68
25 - Read Logic Battery Voltage Level ............................................................. 68
26 - Set Minimum Logic Voltage Level ............................................................. 68
27 - Set Maximum Logic Voltage Level ............................................................ 68
48 - Read Motor PWM values ......................................................................... 69
49 - Read Motor Currents .............................................................................. 69
57 - Set Main Battery Voltages ...................................................................... 69
58 - Set Logic Battery Voltages ...................................................................... 69
59 - Read Main Battery Voltage Settings ......................................................... 69
60 - Read Logic Battery Voltage Settings ......................................................... 69
68 - Set M1 Default Duty Acceleration ............................................................ 69
69 - Set M2 Default Duty Acceleration ............................................................ 70
70 - Set Default Speed for M1 ....................................................................... 70
71 - Set Default Speed for M2 ....................................................................... 70
72 - Read Deafult Speed Settings .................................................................. 70
74 - Set S3, S4 and S5 Modes ....................................................................... 71
75 - Get S3, S4 amd S5 Modes ...................................................................... 71
76 - Set DeadBand for RC/Analog controls ...................................................... 71
77 - Read DeadBand for RC/Analog controls .................................................... 72
80 - Restore Defaults ................................................................................... 72
81 - Read Default Duty Acceleration Settings ................................................... 72
82 - Read Temperature ................................................................................. 72
83 - Read Temperature 2 .............................................................................. 72
90 - Read Status.......................................................................................... 73
91 - Read Encoder Mode ............................................................................... 73
92 - Set Motor 1 Encoder Mode ...................................................................... 74
93 - Set Motor 2 Encoder Mode ...................................................................... 74
94 - Write Settings to EEPROM ...................................................................... 74
95 - Read Settings from EEPROM ................................................................... 74
98 - Set Standard Cong Settings .................................................................. 75
99 - Read Standard Cong Settings ................................................................ 76
100 - Set CTRL Modes .................................................................................. 76
101 - Read CTRL Modes ................................................................................ 76
102 - Set CTRL1 .......................................................................................... 76
103 - Set CTRL2 .......................................................................................... 77
104 - Read CTRL Settings ............................................................................. 77
105 - Set Auto Home Duty/Speed and Timeout M1 .......................................... 77
106 - Set Auto Home Duty/Speed and Timeout M2 .......................................... 77
107 - Read Auto Home Settings .................................................................... 77
109 - Set Speed Error Limits ......................................................................... 77
110 - Read Speed Error Limits ...................................................................... 78
112 - Set Position Error Limits ...................................................................... 78
113 - Read Position Error Limits .................................................................... 78
115 - Set Battery Voltage Osets .................................................................. 78
116 - Read Battery Voltage Osets ................................................................ 78
117 - Set Current Blanking Percentages ......................................................... 78
118 - Read Current Blanking Percentages ....................................................... 78
133 - Set M1 Max Current Limit ..................................................................... 79
134 - Set M2 Max Current Limit ..................................................................... 79