BASICMICRO RoboClaw Series - Set S3, S4 and S5 Modes; Get S3, S4 Amd S5 Modes; Set Deadband for Rc;Analog Controls

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
71
BASICMICRO
74 - Set S3, S4 and S5 Modes
Set modes for S3,S4 and S5.
Send: [Address, 74, S3mode, S4mode, S5mode, CRC(2 bytes)]
Receive: [0xFF]
Mode S3mode S4mode S5mode
0x00 Default Disabled Disabled
0x01 E-Stop E-Stop E-Stop
0x81 E-Stop(Latching) E-Stop(Latching) E-Stop(Latching)
0x14 Voltage Clamp Voltage Clamp Voltage Clamp
0x24 RS485 Direction
0x84 Encoder toggle
0x04 Brake Brake
0xE2 Home(Auto)
0x62 Home(User) Home(User)
0xF2 Home(Auto)/
Limit(Fwd)
Home(Auto)/Limit(Fwd)
0x72 Home(User)/
Limit(Fwd)
Home(User)/Limit(Fwd)
0x12 Limit(Fwd) Limit(Fwd)
0x22 Limit(Rev) Limit(Rev)
0x32 Limit(Both) Limit(Both)
Mode Description
Disabled: pin is inactive.
Default: Flip switch if in RC/Analog mode or E-Stop(latching) in Serial modes.
E-Stop(Latching): causes the Roboclaw to shutdown until the unit is power cycled.
E-Stop: Holds the Roboclaw in shutdown until the E-Stop signal is cleared.
Voltage Clamp: Sets the signal pin as an output to drive an external voltage clamp circuit
Home(M1 & M2): will trigger the specic motor to stop and the encoder count to reset to 0.
75 - Get S3, S4 and S5 Modes
Read mode settings for S3,S4 and S5. See command 74 for mode descriptions
Send: [Address, 75]
Receive: [S3mode, S4mode, S5mode, CRC(2 bytes)]
76 - Set DeadBand for RC/Analog controls
Set RC/Analog mode control deadband percentage in 10ths of a percent. Default value is
25(2.5%). Minimum value is 0(no DeadBand), Maximum value is 250(25%).
Send: [Address, 76, Reverse, Forward, CRC(2 bytes)]
Receive: [0xFF]