AX2550 Motor Controller

JoshEng

Hello everyone, I am currently working on a project in which I need to use the javelin stamp interfaced to a motor controller provided by Roboteq. I am having a problem when sending the byte for the carriage return which is required by the motor controller before executing any commands. I have attached the code that I wrote. In the code there are comments that basically explain the communication required by the Ax2550. Also, I have attached the datasheet of the motor controller. I tried to attached the entire manual but it was too long. The most important facts about the controller are the following:

communication settings:

9600 bits/s, 7-bit data, 1 Start bit, 1 Stop bit, Even Parity



echo:

Character Echo
At the most fundamental level, the AX2550 will echo back to the PC or Microcontroller
every valid character it has received. If no echo is received, one of the following is occurring:
• the controller is not in the RS232 mode
• the controller is Off

• the controller may be defective

to rs-232:

If the controller is configured in R/C or Analog mode, it will not be able to accept and recognize
RS232 commands immediately.
However, the controller will be “listening” to the serial port and will enter the serial mode
after it has received 10 continuous “Enter” (Carriage Return) characters. At that point, the
controller will output an “OK” message, indicating that it has entered the RS232 mode and

that it is now ready to accept commands.



at last· (nn is a two digit hexadecimal number to specify the speed of the motors):

TABLE 24. Controller’s basic Commands and Queries
Command Type Description
%rrrrrr Command Reset Controller
!Ann Command Channel 1, forward command to value nn
!ann Command Channel 1, reverse command to value nn
!Bnn Command Channel 2, forward command to value nn
!bnn Command Channel 2, reverse command to value nn
!C Command Turn Accessory Output C n
!c Command Turn Accessory Output C Off
?a or ?A Query Read Battery Amps
?v or ?V Query Read Power Level applied to motors
?p or ?P Query Read Analog Inputs 1 and 2

?r or ?R Query Read Analog Inputs 3 and 4

Peter Verkaik

Try this.

regards peter

Peter Verkaik

To be able to use evenparity, you need to calculate it.

The attached file has a method evenParity that does it for you.
Place the file in folder ...\lib\stamp\core

regards peter

JoshEng

Thanks for your reply. The class was very useful. I found out that my problem was not only even parity but also I was sending 0x3F instead of sending the byte corresponding to the character 3 and character F. Well in any case thanks for your help.