Roboclaw 2x7A Motor Controller w/ decoders

The RoboClaw motor controllers can control a pair of brushed DC motors using USB serial, TTL serial, RC, or analog inputs and microcontrollers such as an Arduino or Raspberry Pi. Integrated dual quadrature decoders make it easy to create a closed-loop speed control system. This version can supply a continuous 7.5 A per channel (15 A peak) and operates up to 34 V.

RoboClaw automatically supports 3.3V or 5V logic levels, travel limit switches, home switches, emergency stop switches, power supplies, braking systems and contactors. Power supplies can be used by enabling the built in voltage clamping control feature. A built-in switching mode BEC supplies 5VDC at up to 1.2 Amps for powering user devices.

Brushed DC motors can be controlled in open or closed loop using position or velocity control modes and Autotuning PID. RoboClaw features several built-in commands for controlling acceleration, deceleration, distance, speed, current sense, voltage limits and more. RC and analog control modes also include several user defined settings such as acceleration and decelerate speeds.

Dual quadrature encoders with up to 19.6 million pulses per second are supported and can be auto tuned using Motion Studio which is a free downloadable application. In addition, a wide range of sensor inputs including potentiometers and absolute encoders are supported. RoboClaw’s closed loop functionality creates absolute control over speed, velocity and direction regardless of load changes.

RoboClaw incorporates several protection features including temperature, current, over voltage and under voltage limits. The protection features are self monitoring and protect RoboClaw from damage in any operating condition. Several user definable settings such as maximum current limit, maximum and minimum battery voltages are provided for more refined control.

RoboClaw’s regenerative capabilities will charge a supply battery during slow down or breaking. It’s advance circuitry can change direction during full throttle without damage! RoboClaw also incorporates a LiPo cutoff mode to prevent battery damage.

Key features of the RoboClaw family

• Simple bidirectional control of one or two brushed DC motors, depending on controller model
• 6 V to 34 V operating supply range, depending on controller model
• 7.5 A continuous current output, and peak output current per channel 15 A.
• Dual-channel controllers support channel bridging to allow control of a single motor with double the current capability
• Automatic current limiting reduces duty cycle when temperature exceeds 85° C
• Four communication or control options:
  • USB serial interface (virtual COM port)
  • Logic-level (TTL) serial interface for direct connection to microcontrollers or other embedded controllers
  • Hobby radio control (RC) pulse width interface for direct connection to an RC receiver or RC servo controller
  • Analog voltage (0 V to 2 V, 5 V tolerant) interface for direct connection to potentiometers and analog joysticks
  • Dual feedback inputs for PID closed-loop control:
    • Speed or position control with quadrature encoders, up to 19.6 million encoder pulses per second
    • Position control with analog encoders or potentiometers
    • (Open-loop control with no feedback also available)
• Screw terminals for quick connect/disconnect
• Configurable via pushbutton interface or USB connection and PC software
• Regenerative braking
• Tolerates high-speed direction changes
• Jumper-selectable 5 V BEC
• Battery monitoring and under-voltage cutoff protects batteries from over-discharging

Sample code

Basicmicro has written an Arduino library for the RoboClaw that makes it easy to interface these motor controllers with an Arduino. The library comes with several example sketches that demonstrate different methods of controlling the RoboClaw. They also have an application note .

• Data Sheet
• User Manual
• Cad Drawing
• Cad IGES File
• Motion Studio
• Python for Raspberry Pi, OSX, Linux, Windows
• Roboclaw C# Class Library Source Code
• USB Roboclaw WIndows Driver
• Arduino Library and Examples
• Robot Operating System Driver
• Lab View Driver
• USB Driver and BasicMicro Motion Studio Installation
• RoboClaw Basics
• Layout and Common Operations in Motion Studio
• RoboClaw RC Controlled Differential Drive Setup
• Packet Serial with the Raspberry Pi 3
• Simple Arduino Control of the RoboClaw
• Auto Tuning with Motion Studio
• RC Mode Configuration with Buttons
• RoboClaw RC Controlled Differential Drive Setup

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