BASICMICRO RoboClaw Series - Read Standard Config Settings; Set CTRL Modes; Read CTRL Modes; Set CTRL1

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
76
BASICMICRO
99 - Read Standard Cong Settings
Read cong bits for standard settings See Command 98.
Send: [Address, 99]
Receive: [Cong(2 bytes), CRC(2 bytes)]
100 - Set CTRL Modes
Set CTRL modes of CTRL1 and CTRL2 output pins(available on select models).
Send: [Address, 20, CRC(2 bytes)]
Receive: [0xFF]
On select models of Roboclaw, two Open drain, high current output drivers are available, CTRL1
and CTRL2.
Mode Function
0 Disable
1 User
2 Voltage Clamp
3 Brake
User Mode - The output level can be controlled by setting a value from 0(0%) to 65535(100%).
A variable frequency PWM is generated at the specied percentage.
Voltage Clamp Mode - The CTRL output will activate when an over voltage is detected and
released when the overvoltage disipates. Adding an external load dump resistor from the CTRL
pin to B+ will allow the Roboclaw to disipate over voltage energy automatically(up to the 3amp
limit of the CTRL pin).
Brake Mode - The CTRL pin can be used to activate an external brake(CTRL1 for Motor 1 brake
and CTRL2 for Motor 2 brake). The signal will activate when the motor is stopped(eg 0 PWM).
Note acceleration/default_acceleration settings should be set appropriately to allow the motor to
slow down before the brake is activated.
101 - Read CTRL Modes
Read CTRL modes of CTRL1 and CTRL2 output pins(available on select models).
Send: [Address, 101]
Receive: [CTRL1Mode(1 bytes), CTRL2Mode(1 bytes), CRC(2 bytes)]
Reads CTRL1 and CTRL2 mode setting. See 100 - Set CTRL Modes for valid values.
102 - Set CTRL1
Set CTRL1 output value(available on select models)
Send: [Address, 102, Value(2 bytes), CRC(2 bytes)]
Receive: [0xFF]
Set the output state value of CTRL1. See 100 - Set CTRL Modes for valid values.