BASICMICRO RoboClaw Series - Read Firmware Version; Read Main Battery Voltage Level; Read Logic Battery Voltage Level; Set Minimum Logic Voltage Level

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
68
BASICMICRO
21 - Read Firmware Version
Read RoboClaw rmware version. Returns up to 48 bytes(depending on the Roboclaw model)
and is terminated by a line feed character and a null character.
Send: [Address, 21]
Receive: [“RoboClaw 10.2A v4.1.11”,10,0, CRC(2 bytes)]
The command will return up to 48 bytes. The return string includes the product name and
rmware version. The return string is terminated with a line feed (10) and null (0) character.
24 - Read Main Battery Voltage Level
Read the main battery voltage level connected to B+ and B- terminals. The voltage is returned in
10ths of a volt(eg 300 = 30v).
Send: [Address, 24]
Receive: [Value(2 bytes), CRC(2 bytes)]
25 - Read Logic Battery Voltage Level
Read a logic battery voltage level connected to LB+ and LB- terminals. The voltage is returned in
10ths of a volt(eg 50 = 5v).
Send: [Address, 25]
Receive: [Value.Byte1, Value.Byte0, CRC(2 bytes)]
26 - Set Minimum Logic Voltage Level
Note: This command is included for backwards compatibility. We recommend you use
command 58 instead.
Sets logic input (LB- / LB+) minimum voltage level. RoboClaw will shut down with an error if
the voltage is below this level. The voltage is set in .2 volt increments. A value of 0 sets the
minimum value allowed which is 6V. The valid data range is 0 - 140 (6V - 34V). The formula for
calculating the voltage is: (Desired Volts - 6) x 5 = Value. Examples of valid values are 6V = 0,
8V = 10 and 11V = 25.
Send: [Address, 26, Value, CRC(2 bytes)]
Receive: [0xFF]
27 - Set Maximum Logic Voltage Level
Note: This command is included for backwards compatibility. We recommend you use
command 58 instead.
Sets logic input (LB- / LB+) maximum voltage level. The valid data range is 30 - 175 (6V -
34V). RoboClaw will shutdown with an error if the voltage is above this level. The formula for
calculating the voltage is: Desired Volts x 5.12 = Value. Examples of valid values are 12V = 62,
16V = 82 and 24V = 123.
Send: [Address, 27, Value, CRC(2 bytes)]
Receive: [0xFF]