BasicMicro

I understand that the RoboClaw waits for 1 ms before answering commands on the serial bus, apparently in order to let slower MCUs without FIFOs or DMA switch into receiving mode. Given that almost all controllers these days are fast and pipelined, it would be great if that response delay could be tu...

Thank you for the answer! I actually send buffered commands at a fairly high rate, using the "overwrite" mode, so the commands never complete. The reason I use acceleration/distance is as a failsafe -- if my controller crashes, and stops sending commands, the robot will pretty quickly run ...

So faster but not massively so. Thanks! I'm not so worried about the total time it takes to read the command, as I am about the skew between read samples, because if the wheels run at the same speed, but are sampled at different times, I will get skew between the wheel encoders, which my sensor fus...

Is the "distance" value in command 46 interpreted as a "relative distance from where you are now," or an "absolute distance in total encoder counts since reset" ?

I'm trying to do dead reckoning on a differential drive robot using encoders, and I get a little bit of slip because the RoboClaw takes a while to read one encoder, and then the other. In my capture below, you will see that it takes 3.05 milliseconds just to respond to the command to read; the inter...