The General Settings screen can be used to configure RoboClaw. This includes modes, mode options and monitored parameters. For detailed explanations of each mode and its options, see the Control Modes, Voltage Settings, Auxiliary Pins, and Status LEDs sections of this manual.
The General Settings screen (source: PDF page 21).
Configuration Options
Each control mode includes several configuration options. Some options may appear grayed out, indicating they are not available for the selected mode. After making changes, write the settings to the controller. The RoboClaw resets automatically after settings are written.
Group
Description
General
Main configuration options and main control mode selection drop down.
Serial
Settings for serial modes. Set packet address, baudrate and slave select.
Battery
Voltage setting options for main battery and logic batteries.
Encoders
Set encoder type. Invert signal option.
RC/Analog Options
Configure RC and Analog control options.
Motors
PWM mode, motor current, accel and decel settings.
I/O
Set encoder input type. Set S3, S4 and S5 configuration options. Enables output pins on certain models of RoboClaw.
General
Function
Description
Control Mode
Selects the active control mode.
Swap Encoder Channels
Swaps encoder channels between motors.
Enable Multi-Unit Mode
Sets the S2 pin to open drain. Allows multiple RoboClaws to be controlled from a single serial port.
Enable USB to TTL Relay Mode
Allows USB serial commands to be passed through the master RoboClaw via the S1 (RX) and S2 (TX) pins, enabling multiple RoboClaws to be networked and controlled from a single USB-connected master unit.
USB Serial Number
Add a serial number up to 18 characters. Saved to the motor controller.
Serial
Function
Description
Packet Serial Address
Sets the RoboClaw’s address for packet serial mode, enabling control of multiple units from a single serial port using unique addresses.
Baudrate
Sets the serial communication speed.
Timeout
Sets the communication timeout (0 to 25.5 seconds). Motors stop if no command is received within the specified period.
Simple Serial
Enables slave select for Simple Serial mode. Set pin S2 high to enable the attached RoboClaw. Pull S2 low and all commands will be ignored.
Battery
Function
Description
Autodetect Max Main Battery Plus
Detects max main battery voltage with offset. Auto detect requires a properly charged battery.
Battery Cutoff
Selects a battery cutoff preset based on LiPo cell count. Overrides user-defined voltage limits unless “Use User Settings” is selected.
Max Main Battery
Sets the maximum main battery voltage. The motor controller will decelerate to prevent regenerative voltage from exceeding this limit.
Min Main Battery
Sets the minimum main battery voltage. The motor controller enters freewheel mode if voltage drops below this limit to protect the battery.
Max Logic Battery
Sets the maximum logic battery voltage. Triggers a motor control error if exceeded to protect internal circuitry.
Min Logic Battery
Sets the minimum logic battery voltage. Triggers a motor control error if voltage drops below this limit to protect internal circuitry.
Encoders
Function
Description
Encoder 1 Mode
Selects the encoder type and direction for M1.
Encoder 2 Mode
Selects the encoder type and direction for M2.
RC/Analog Options
Function
Description
Safe Start M1
Enables Safe Start. The input must go to center before the motor will start.
Safe Start M2
Enables Safe Start. The input must go to center before the motor will start.
RC Timeout
Stops the motors if the input signal is lost for over 100 ms. Not available in Analog mode.
Analog Error Detect
Stops the motors if the analog input reads 0 or 2047, indicating a failed potentiometer.
Mixing
Enables mixing of the S1 and S2 inputs for differential drive control. S1 sets forward/reverse speed; S2 controls turning. Similar to RC car steering. Disable for independent tank-style control.
Swap Mixed Channels
Swaps the M1 and M2 roles in mixing.
Exponential
Adds low-speed control sensitivity.
Disable Auto Calibration
Disables auto calibrate. Allows a slow MCU to send R/C pulses at lower than normal R/C rates.
Flip/Reverse Switch Mode
Enables Flip/Reverse mode via S3. When activated, motor directions are reversed (useful if a robot is flipped). Active-low by default unless the pin is inverted. S3 must be set to Flip/Reverse switch in its drop down menu.
Enable Encoder 1
Enables Encoder 1 for use in RC or Analog mode. Controls motor speed or position based on the selected PID mode. Speed is scaled using the QPPS value; position is limited by the set min and max position values.
Enable Encoder 2
Enables Encoder 2 for use in RC or Analog mode. Controls motor speed or position based on the selected PID mode. Speed is scaled using the QPPS value; position is limited by the set min and max position values.
Min Position
Sets the minimum input value when Auto Calibration is disabled. (RC: µs, Analog: 0 to 2V mapped to 0 to 2047)
Center Position
Sets the center input value when Auto Calibration is disabled. (RC: µs, Analog: 0 to 2V mapped to 0 to 2047)
Max Position
Sets the maximum input value when Auto Calibration is disabled. (RC: µs, Analog: 0 to 2V mapped to 0 to 2047)
Fwd Deadband (%)
Sets the forward input range near neutral that is ignored (treated as zero throttle).
Rev Deadband (%)
Sets the reverse input range near neutral that is ignored (treated as zero throttle).
Fwd Limit (%)
Sets the maximum allowed forward output by capping the PWM duty cycle to less than 100%.
Rev Limit (%)
Sets the maximum allowed reverse output by capping the PWM duty cycle to less than 100%.
Motors
Function
Description
Motor1 / Motor2 Reverse
Reverses the motor channel direction.
PWM Mode
Selects the PWM drive method.
Max Current
Sets the maximum motor current per channel, up to the RoboClaw’s rated peak. The actual limit decreases with temperature: from peak at 25 °C to continuous at 85 °C, then ramps down to 0 by 100 °C.
Max Regen
Sets the maximum regenerative current allowed during braking or deceleration. Use a negative value to limit current flowing back into the battery.
Idle Delay
Sets the delay before switching to freewheel mode when the motor duty cycle reaches zero. Applies only when Idle Mode is set to Freewheel. Holds the braking state for the specified time before releasing. Braking mode does not time out.
Idle Mode
Selects idle behavior: Free Wheeling or Electric Braking. Free Wheeling removes all power from the motors. Electric Braking shorts the motor.
Default Speed (%)
Sets the maximum speed of a position movement for RC, Analog, or Packet Serial position commands that have no speed argument. Encoder required.
Default Accel (%)
Default acceleration for RC, Analog, or Packet Serial commands. Overridden by commands that include accel or accel/decel arguments.
Default Decel (%)
Default deceleration for RC, Analog, or Packet Serial commands. Overridden by commands that include accel or accel/decel arguments.
I/O
Function
Description
S3 Mode
Assigns an alternate function to input pin S3. See the Auxiliary Pins section of this manual for details.
S4 Mode
Assigns an alternate function to input pin S4. See the Auxiliary Pins section of this manual for details.
S5 Mode
Assigns an alternate function to input pin S5. See the Auxiliary Pins section of this manual for details.
Invert
Sets the input signal to active-high (default is active-low).
Duty (%)
Sets the PWM duty for applicable alternate functions.
Home Timeout (secs)
Sets the timeout for applicable alternate functions.
