Using Home switches

General discussion of using Roboclaw motor controllers
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Basicmicro Support
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Joined: Thu Feb 26, 2015 9:45 pm
Re: Using Home switches

Post by Basicmicro Support »

There are two modes. Auto and User. In Auto made the Roboclaw will do the following on power up:

1. If the Switch is already triggered, the motor will be moved forward(with a hardwired timeout of 3 seconds).
2. If the Switch is not triggered, the motor will move in reverse until the switch is triggered or until the user setable timeout expires.

Note Roboclaw will home motor 1 and then home motor 2 in that order.

After that if the user moves the motor into the switch it will stop the motor like a limit switch(when switch is in home or limit mode) and zero the encoder(if the switch is set to Home mode)

The difference between Auto and User mode is that User mode does not do the automatic homing. On power up the user should send commands to get the switch status and move the motor appropriately. As in Auto mode, when in User mode the motor will be stopped if the switch is triggered while the motor is moving in the defined direction(eg home or limit(rev) will stop the motor if the limit triggeres while the motor is moving in reverse) and if mode is limit(fwd) the motor will stop if the switch is triggered while the motor is moving forward. When set to Home mode the encoder for that motor will also be zero'd when the switch is triggered.

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