BasicMicro

The Roboclaw user manual Revision 5.6 (http://downloads.basicmicro.com/docs/ro ... manual.pdf) has documentation for commands 98 and 99. Can you please explain (or better yet, update the manual) how these bit masks are to be interpreted?

It seems to me like one needs to first figure out the "mode" (RC Mode 0x0000, Analog Mode 0x0001, Simple, Serial Mode 0x0002, Packet Serial Mode 0x0003), and then the rest of the bitmasks apply depending on the mode. (I'm assuming the modes are mutually exclusive?) If this is the case, can you please explain which bit mask applies to which mode?

Thank you!

Yes, the config word is a bitmask. So you use a binary or(|) to combine each settings and yes, different sets of settings are only available with specific modes.

It should be fairly obvious which settings apply to which mode(also if you read each modes section in the manual it tells you what options are for that particular mode).

The battery settings apply to all modes.
The Mixing, Expo and MCU options apply to Rc/Analog modes
The baudrate settings applly to Packet serial and simple serial modes.
Flipswitch applies to RC/Analog modes
Packet address applies to Packet Serial mode
Slave Mode applies to Simple serial mode
Relay Mode applies to Packet Serial mode
Swap Encoders applies to all modes
Swap Buttons applies to all modes
Multi-Unit Mode applies to Packet serial mode