BASICMICRO RoboClaw Series - Set Quadrature Encoder 1 Value; Set Quadrature Encoder 2 Value; Read Raw Speed M1; Read Raw Speed M2

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
88
BASICMICRO
22 - Set Quadrature Encoder 1 Value
Set the value of the Encoder 1 register. Useful when homing motor 1. This command applies to
quadrature encoders only.
Send: [Address, 22, Value(4 bytes), CRC(2 bytes)]
Receive: [0xFF]
23 - Set Quadrature Encoder 2 Value
Set the value of the Encoder 2 register. Useful when homing motor 2. This command applies to
quadrature encoders only.
Send: [Address, 23, Value(4 bytes), CRC(2 bytes)]
Receive: [0xFF]
30 - Read Raw Speed M1
Read the pulses counted in that last 300th of a second. This is an unltered version of command
18. Command 30 can be used to make a independent PID routine. Value returned is in encoder
counts per second.
Send: [Address, 30]
Receive: [Speed(4 bytes), Status, CRC(2 bytes)]
The Status byte is direction (0 – forward, 1 - backward).
31 - Read Raw Speed M2
Read the pulses counted in that last 300th of a second. This is an unltered version of command
19. Command 31 can be used to make a independent PID routine. Value returned is in encoder
counts per second.
Send: [Address, 31]
Receive: [Speed(4 bytes), Status, CRC(2 bytes)]
The Status byte is direction (0 – forward, 1 - backward).
78 - Read Encoder Counters
Read M1 and M2 encoder counters. Quadrature encoders have a range of 0 to 4,294,967,295.
Absolute encoder values are converted from an analog voltage into a value from 0 to 2047 for
the full 2V analog range.
Send: [Address, 78]
Receive: [Enc1(4 bytes), Enc2(4 bytes), CRC(2 bytes)]
79 - Read ISpeeds Counters
Read M1 and M2 instantaneous speeds. Returns the speed in encoder counts per second for the
last 300th of a second for both encoder channels.
Send: [Address, 79]
Receive: [ISpeed1(4 bytes), ISpeed2(4 bytes), CRC(2 bytes)]