
PRO
afcorson
Australia
Asked

Do you know if EZ Builder is compatible with a RoboClaw 2x30A Motor Controller? - see link: https://www.basicmicro.com/RoboClaw-2x30A-Motor-Controller_p_9.html
Related Hardware EZ-B IoTiny
Quote:
Because the Sabertooth Control (useable for Roboclaw) handles two motors with one 8 byte character, when operating in Simplified Serial mode, each motor has 7 bits of resolution. Sending a character between 1 and 127 will control motor 1. 1 is full reverse, 64 is stop and 127 is full forward. Sending a character between 128 and 255 will control motor 2. 128 is full reverse, 192 is stop and 255 is full forward.
Character 0 (hex 0x00) is a special case. Sending this character will shut down both motors.
Motor 1
Reverse should be set as 1.
Stop should be set as 64.
Forward should be set as 127.
Motor 2
Reverse should be set as 128.
Stop should be set as 192.
Forward should be set as 255.
https://synthiam.com/Community/Questions/Robo-Claw-2x30-8968
@DJ you were correct
both Robotclaw and Sabertooth are rich controllers with a lot of features, I assumed the sabertooth control was specific for Sabertooth.
I just tested the control and checked the output:
basically is the Simplified Serial mode post #14
Simple and plain, no black magic, nothing specific.
I would add more information about Simple Serial Protocol and i would mention RoboClaw controllers
Sorry guys, I assumed something without checking the control.
Can you take look to the outputs:
Based on @Afcorson input:
Sabertooth manual:
At full speed:
Forward should be 0x7F, 0xFF
Right should be 0x7F, 0x80
Backward should be 0x01, 0x80
Left should be 0x01, 0xFF
The control output is slight off in some cases, if the values are not proportional a 2 wheel robot may turn more to one of the sides.
Code:
The mapping is correct
The output is incorrect
you have a bug in your code:
you are using the calculated leftSpeed to calculate the rightSpeed.
I believe this why RoboHappy complained about the Sabertooth erratic behavior and Richard mentioned he used a custom panel:
https://synthiam.com/Community/Questions/Servo-Movement-panel-Unable-to-turn-left-or-right-19185
Somehow I need to enable TTL serial mode as I don't want to be tethered to a laptop to use it.
I seem to be missing something here, as I can't find a setting to get it working without the USB connection.
Keep the usb disconnected.
I presume you have the main power source connected, do you see any lights on ?
Can you measure the voltage between the (+) and (-) ?
The idea is to troubleshoot if the controller DC/DC is still operational, you need to have 5v on those pins.
be careful when using the multi-meter probes to avoid a short circuit while trying to measure.
My guess is:
When you connected the S1 (+) and (-) to the EZB you short-circuit the DC/DC output voltage with EZB Vin, sometimes is enough to damage the 5v regulator.
The reason why it works with an USB cable is because the controller has a switching circuit to switch between the USB power (when you are configuring the controller) and the controller 5v regulator, in absence of DC/DC the switching circuit uses the USB voltage.
Still not working ?
The software also says it is in standard or simple serial mode.
RoboClaw includes 3 LEDs to indicate status. Two green status LEDs labeled STAT1 and STAT2
and one red error LED labeled ERR. When the motor controller is first powered on all 3 LEDs
should blink briefly to indicate all LEDs are functional.
STAT1 lights up when connected to USB. Only STAT2 lights up when not connected to USB.
The LEDs will behave differently depending on the mode. During normal operation the status 1
LED will remain on continuously or blink when data is received in RC Mode or Serial Modes. The
status 2 LED will light when either drive stage is active.
Now I have STAT1 lit when not connected to USB. It's hard to see the problem.
Further testing. Works without vendor software connection but with USB connected. Disconnect USB, then it doesn't work.
So the only thing it gets from the USB connection is more 5v power. Curious!
What would happen if I connected the Roboclaw's USB to its own S5 5v power supply? Risky or not?
Alan