BASICMICRO RoboClaw Series - Read Speed Error Limits; Set Position Error Limits; Read Position Error Limits; Set Battery Voltage Offsets

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
78
BASICMICRO
110 - Read Speed Error Limits
Read the current speed error limit values.
Send: [Address, 110]
Receive: [M1Limit(4 bytes), M2Limit(4 bytes), CRC(2 bytes)]
112 - Set Position Error Limits
Set motor position error limits in encoder counts.
Send: [Address, 112, M1Limit(4 bytes), M2Limit(4 byes), CRC(2 bytes)]
Receive: [0xFF]
113 - Read Position Error Limits
Read the current motor position error limits.
Send: [Address, 113]
Receive: [M1Limit(4 bytes), M2Limit(4 bytes), CRC(2 bytes)]
115 - Set Battery Voltage Osets
Set the main and logic battery osets to correct for dierences in voltage readings. Range of
values is +/- 1V in .1V increments with a range of -10 to 10.
Send: [Address, 115, MainBatteryOset, LogicBatteryOset, CRC(2 bytes)]
Receive: [0xFF]
116 - Read Battery Voltage Osets
Read current voltage oset values.
Send: [Address, 116]
Receive: [MainBatteryOset, LogicBatteryOset, CRC(2 bytes)]
117 - Set Current Blanking Percentage
Sets the percentage of PWM duty for which current readings will be blanked. This setting is used
to prevent noise from low PWM duty from causing incorrect current readings. The range is 0 to
6554 (0 to 20%).
Send: [Address, 117, M1Blanking(2 bytes), M2Blanking(2 bytes), CRC(2 bytes)]
Receive: [0xFF]
118 - Read Current Blanking Percentage
Read the current blanking percentages.
Send: [Address, 118]
Receive: [M1Blanking(2 bytes), M2Blanking(2 bytes), CRC(2 bytes)]