User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
50
BASICMICRO
RC Control
RC Mode
RC mode is typically used when controlling RoboClaw from a hobby RC radio. This mode can also
be used to simplify driving RoboClaw from a microcontroller using servo pulses. In this mode S1
controls the direction and speed of motor 1 and S2 controls the direction and speed of motor 2.
RC Mode With Mixing
This mode is the same as RC mode with the exception of how S1 and S2 controls the attached
motors. When used with a differentially steered robot, mixing mode allows S1 to control the
speed forward and backward and S2 to control steering left and right.
RC Mode with feedback for velocity or position control
RC Mode can be used with encoders. Velocity and/or Position PID constants must be calibrated
for proper operation rst. Once calibrated values have been set and saved into Roboclaws
eeprom memory, encoder support using velocity or position PID control can be enabled. Use Ion
Studio control software or Packet Serial commands, enable encoders for RC/Analog modes (See
Conguration Using Ion Studio).
RC Mode Options
Option Function Description
1 TTL Flip Switch Flip switch triggered by low signal.
2 TTL Flip and Exponential Enabled Softens the center control position. This mode is ideal
with tank style robots. Making it easier to control from an
RC radio. Flip switch triggered by low signal.
3 TTL Flip and MCU Enabled Continues to execute last pulse received until new
pulse received. Disables Signal loss fail safe and auto
calibration. Flip switch triggered by low signal.
4 TTL Flip and Exponential and MCU Enabled Enables both options. Flip switch triggered by low signal.
5 RC Flip Switch Enabled Same as mode 1 with ip switch triggered by RC signal.
6 RC Flip and Exponential Enabled Same as mode 2 with ip switch triggered by RC signal.
7 RC Flip and MCU Enabled Same as mode 3 with ip switch triggered by RC signal.
8 RC Flip and Exponential and MCU Enabled Same as mode 4 with ip switch triggered by RC signal.
Pulse Ranges
The RoboClaw expects RC pulses on S1 and S2 to drive the motors when the mode is set to
RC mode. The center points are calibrated at start up(unless disabled by enabling MCU mode).
1250us is the default for full reverse and 1750us is the default for full forward. The RoboClaw will
auto calibrate these ranges on the y unless auto-calibration is disabled. If a pulse smaller than
1250us or larger than 1750us is detected the new pulse range will be set as the maximum.
Pulse MCU Mode Enabled MCU Mode Diabled
Stopped 1520μs Start Up Auto Calibration
Full Reverse 1120μs +400μs
Full Forward 1920μs -400μs