why roboclaw needs Locked-antiphase?
why roboclaw needs Locked-antiphase?
I am not clear on why roboclaw needs Locked-antiphase mode:
PWM Mode Locked-antiphase
Because both forward and reverse are determined by one signal line the amount of control available is only ½ the apparent PWM control range: Those numbers below 50% duty cycle are reverse and those above are forward.
One of the big advantages to locked-antiphase is that only one line is needed to completely control the H-Bridge motor driver. If you have an I/O constrained MCU, this might be a good option.
PWM Mode Locked-antiphase
Because both forward and reverse are determined by one signal line the amount of control available is only ½ the apparent PWM control range: Those numbers below 50% duty cycle are reverse and those above are forward.
One of the big advantages to locked-antiphase is that only one line is needed to completely control the H-Bridge motor driver. If you have an I/O constrained MCU, this might be a good option.
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Basicmicro Support
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Re: why roboclaw needs Locked-antiphase?
Roboclaw does not "need" locked antiphase. Locked antiphase was the original PWM method and some older units only support it. Sign magnitude is an option on all shipping units now and at some point in the future we plan on making it the default PWM mode for all shipping models. Basically its historic inertia keeping it as the default for now(dont fix something that isnt broken).
LA is half the resolution of SM but both output the same power(just to be clear). The resolution of LA is already +-1500 unique positions(0 to 1500 forward and 0 to -1500 backward) so being half the resolution of SM doesnt really matter.
LA is half the resolution of SM but both output the same power(just to be clear). The resolution of LA is already +-1500 unique positions(0 to 1500 forward and 0 to -1500 backward) so being half the resolution of SM doesnt really matter.