Roboclaw Solo: Setting S3 mode via packet serial

General discussion of using Roboclaw motor controllers
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stu
Posts: 4
Joined: Wed May 08, 2019 8:24 am

Roboclaw Solo: Setting S3 mode via packet serial

Post by stu » Wed May 08, 2019 8:34 am

S3 can be set to act as a limit switch (reverse) via the Basicmicro Motion Studio GUI,
bms_gui.PNG
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however the user manual doesn't explain how to do so using packet serial. The user manual appears to be out of date for the solo: there's no S4 or S5 on this model.
robo_user_man.PNG
robo_user_man.PNG (103.83 KiB) Viewed 470 times
Essentially I'd like to know what to throw in this function to set S3 to be the limit switch for reverse motion:

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roboclaw.SetPinFunctions(0x80,???,0,0)
Using python on windows
Connected to serial using FTDI cable
13V power supply
Normally open limit switch connected to S3 and GND

Thanks in advance!

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Basicmicro Support
Posts: 1232
Joined: Thu Feb 26, 2015 9:45 pm

Re: Roboclaw Solo: Setting S3 mode via packet serial

Post by Basicmicro Support » Wed May 08, 2019 9:51 am

The SetPinFunctions commands has changed quite a bit and yes the manual is out of date on this particular command.

We go into detail on the changes in this forum post: viewtopic.php?f=2&t=528

It doesnt talk specifically about the Solo but the new system used by the SetPinFunctions command works the same on Solo. Solo S3 effectively works the same as other Roboclaw S4 pins as far as the auxilliary functions are concerned.

stu
Posts: 4
Joined: Wed May 08, 2019 8:24 am

Re: Roboclaw Solo: Setting S3 mode via packet serial

Post by stu » Wed May 08, 2019 11:00 am

I figured it out by setting the functionality through the GUI then reading the pin modes using

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rc.ReadPinFunctions(0x80)
It printed

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(1, 0, 34, 0)
which is strange considering your post says reverse limit is 0x20, which is 32.

Any idea what that's about?

Thanks for the response by the way.

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Basicmicro Support
Posts: 1232
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Re: Roboclaw Solo: Setting S3 mode via packet serial

Post by Basicmicro Support » Thu May 09, 2019 9:57 am

You combine multiple things to make a setting.

For a reverse limit you combine SIGTYPE_LIMIT 0x02 and SIGFLAG_BACKWARD 0x20 which produces 0x22(34).

Every mode must have a SIGTYPE set. Then you set specific SIGFLAGs for that mode.

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