BASICMICRO RoboClaw Series - Read Motor Average Speeds; Read Speed Errors; Read Position Errors

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
89
BASICMICRO
108 - Read Motor Average Speeds
Read M1 and M2 average speeds. Return the speed in encoder counts per second for the last
second for both encoder channels.
Send: [Address, 108]
Receive: [Speed1(4 bytes), Speed2(4 bytes), CRC(2 bytes)]
111 - Read Speed Errors
Read current calculated speed error in encoder counts per second.
Send: [Address, 111]
Receive; [M1Error(4 bytes), M2Error(4 bytes), CRC(2 bytes)]
114 - Read Position Errors
Read current calculated position error in encoder counts.
Send: [Address, 114]
Receive: [M1Error(4 bytes), M2Error(4 bytes], CRC(2 bytes)]