Snowcat: RoboClaw

Overview

Goal: Set up Roboclaw Motor Controller on the Snowcat to drive each motor. The Roboclaw receives velocity commands for M1 and M2 from the Arduino Teensie.

Parts

For specific information on these parts, please see the Kubo hardware documentation. (documentation)

• 2X45 RoboClaw Motor Controller
• Left and right track drive motors

Procedure

Initial Setup of RoboClaw

1. Install Ion Studio from ION Motion Control website Downloads page (link)

• Windows throws lots of virus warnings; ignore them, file is safe

2. Wire 7.2v source to +/- on the main screw terminal

• DOUBLE-CHECK THIS, OTHERWISE YOU KILL THE ROBOCLAW
• MAKE SURE YOUR POWER SUPPLY CAN SOURCE OPERATING CURRENT!
• The 7.2v 1800mAh NiMH battery that is provided with the Snowcat is preferred.

3. Plug RoboClaw into computer via microUSB-USB and update firmware through Ion Studio

Packet Serial Communication Setup

1. Install Roboclaw Arduino library & examples from Ionmc; Move resulting folder to Arduino libraries folder (link)

2. Cut USB 5V Pad from Teensy 5V Pad (link)

• Refer to the Teensy 3.5 schematic

3. Wire Arduino Rx, Tx, 5V, & GND ports to Roboclaw using Roboclaw user manual diagram on page 62

4. Change Roboclaw mode to 7 and option to 4 using Roboclaw user manual instructions on page 35-36

5. Start running code from Arduino Examples

6. Useful link: https://www.pjrc.com/teensy/td_uart.html

Alex Frye last edited on 17/09/24