Temporary motor limits – Pololu Simple User Manual
Page 83
ID Name
Type
Description
Units
20
Target
Speed
signed
16-bit
Motor target speed (-3200 to +3200) requested by the controlling
interface.
internal
units
21
Speed
signed
16-bit
Current speed of the motor (-3200 to +3200).
internal
units
22
Brake
Amount
unsigned
16-bit
When Speed=0, this variable indicates how hard the controller is
braking with a value from 0 (full coast) to 32 (full brake). Otherwise, it
has a value of 0xFF (255). The high byte of this variable is always zero.
0=coast,
32=brake
23
Input
Voltage
unsigned
16-bit
Measured voltage on the VIN pin.
mV
24
Temperature
unsigned
16-bit
Board temperature as measured by a temperature sensor near the motor
driver. Temperatures below freezing are reported as 0.
0.1 °C
26
RC Period
unsigned
16-bit
If there is a valid signal on RC1, this variable contains the signal period.
Otherwise, this variable has a value of 0.
0.1 ms
27
Baud Rate
Register
unsigned
16-bit
Value of the controller’s baud rate register (BRR). Convert to units of
bps with the equation
72,000,000/BRR
. In automatic baud detection
mode, BRR has a value of 0 until the controller has detected the baud
rate.
seconds
per
7.2e7 bits
28
System
Time (Low)
unsigned
16-bit
Two lower bytes of the number of milliseconds that have elapsed since
the controller was last reset or powered up.
ms
29
System
Time (High)
unsigned
16-bit
Two upper bytes of the number of milliseconds that have elapsed since
the controller was last reset or powered up.
65,536 ms
Temporary Motor Limits
These variables contain the user-imposed limits on the motor output, such as maximum speed, acceleration, and
deceleration. These variables are initialized to the hard motor limit settings (see
) every time the controller
is powered up or reset and every time the apply settings button is pressed in the Simple Motor Control Center. These
temporary limits can be changed via the serial interface while the controller is running to impose stricter/safer limits
than the hard motor limit settings (see the Set Motor Limit command in
and
).
Pololu Simple Motor Controller User's Guide
© 2001–2014 Pololu Corporation
6. Using the Serial Interface
Page 83 of 101