Header Add LengthCmd

Motor 1 Power

Ratio

Motor 2 Power

Ratio

SUM

0x550xaa0x10 0x02 0x11

S1

S2

SUM

Header

Add

Length

Cmd

SUM

0x55

0xaa

0x10

0x00

0x12

0x21

Header Add Length Cmd M1_ENCODE M2_ENCODE SUM

0x55 0xaa 0x10 0x04 0x12

H

L

H

L

SUM

Header

Add

Length

Cmd

SUM

0x55

0xaa

0x10

0x00

0x13

0x22

Return:

None

Set Motor Power

This commands set the power of the motors.

The value of power ratio S1/S2 is from 0-200. 100(0x64) stands for a full stop. 200(0xC8)

stands for the maximum forward power. 0(0x00) stands for the maximum backward power.

Read encoder data

Return:

M1_ENCODE

、M2_ENCODE：Two bytes 16 bit value。Represent the rotation counter of the

motors.

When change the direction of the motor, the encoder needs to be reset.

Example

：

Send:

Read encoders

0x55 0xaa 0x10 0x00 0x12 0x21

Return:

0x55 0xAA 0x10 0x04 0x12 0x00 0x3C 0x03 0x53 0xB7 0x0A

Reset Encoder Reading

This commands reset the encoder’s counters.

Example

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