Programming Manual Elektor Proton Robot - ELEKTOR.se

The MD25 has 17 registers numbered 0 to 16 as follows;Register Write Read Description0 Speed1 Speed1 Motor1 speed (mode 0,1) or speed (mode 2,3)1 Speed2/Turn Speed2/Turn Motor2 speed (mode 0,1) or turn (mode 2,3)2 Enc1a xEncoder 1 position, 1st byte (highest), capture countwhen read3 Enc1b x Encoder 1 position, 2nd byte4 Enc1c x Encoder 1 position, 3rd byte5 Enc1d x Encoder 1 position, 4th (lowest byte)6 Enc2a xEncoder 2 position, 1st byte (highest), capturecount when read7 Enc2b x Encoder 2 position, 2nd byte8 Enc2c x Encoder 2 position, 3rd byte9 Enc2d x Encoder 2 position, 4th byte (lowest byte)10 Battery volts x The supply battery voltage11 Motor 1 current x The current through motor 112 Motor 2 current x The current through motor 213 Software Revision x Software Revision Number14 Acceleration rate Acceleration rate Optional Acceleration register15 Mode Mode Mode of operation (see below)Used for reset of encoder counts and module16 Command Command address changesNotes of the developer:• The speed registers work as follows: 128 = stop / 0 = full speed reverse / 1 = full speedforward• If you want to read the encoder value of one of the motors – be sure to first read theEncxd register – this will copy the current encoder value of the 4 bytes into a 4 bytebuffer which gives you time to read out all 4 registers (if necessary). So – always firstread out the High byte – then one or all of the others!Bart Huyskens Manual Elektor Proton V1.0 3 April 2011 75