BASICMICRO RoboClaw Series - Read Motor PWM Values; Read Motor Currents; Set Main Battery Voltages; Set Logic Battery Voltages

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
69
BASICMICRO
48 - Read Motor PWM values
Read the current PWM output values for the motor channels. The values returned are +/-32767.
The duty cycle percent is calculated by dividing the Value by 327.67.
Send: [Address, 48]
Receive: [M1 PWM(2 bytes), M2 PWM(2 bytes), CRC(2 bytes)]
49 - Read Motor Currents
Read the current draw from each motor in 10ma increments. The amps value is calculated by
dividing the value by 100.
Send: [Address, 49]
Receive: [M1 Current(2 bytes), M2 Currrent(2 bytes), CRC(2 bytes)]
57 - Set Main Battery Voltages
Set the Main Battery Voltage cutos, Min and Max. Min and Max voltages are in 10th of a volt
increments. Multiply the voltage to set by 10.
Send: [Address, 57, Min(2 bytes), Max(2bytes, CRC(2 bytes)]
Receive: [0xFF]
58 - Set Logic Battery Voltages
Set the Logic Battery Voltages cutos, Min and Max. Min and Max voltages are in 10th of a volt
increments. Multiply the voltage to set by 10.
Send: [Address, 58, Min(2 bytes), Max(2bytes, CRC(2 bytes)]
Receive: [0xFF]
59 - Read Main Battery Voltage Settings
Read the Main Battery Voltage Settings. The voltage is calculated by dividing the value by 10
Send: [Address, 59]
Receive: [Min(2 bytes), Max(2 bytes), CRC(2 bytes)]
60 - Read Logic Battery Voltage Settings
Read the Logic Battery Voltage Settings. The voltage is calculated by dividing the value by 10
Send: [Address, 60]
Receive: [Min(2 bytes), Max(2 bytes), CRC(2 bytes)]
68 - Set M1 Default Duty Acceleration
Set the default acceleration for M1 when using duty cycle commands(Cmds 32,33 and 34) or
when using Standard Serial, RC and Analog PWM modes.
Send: [Address, 68, Accel(4 bytes), CRC(2 bytes)]
Receive: [0xFF]