Roboclaw Driver

[teddyort]

Check for driver disconnection. Recover gracefully.

[teddyort]

Also try to recover from these errors:

  if(DEBUG){ //TODO integrate these into the alarm system
    // check for roboclaw errors
    bool valid;
    uint32_t error_state = roboclaw.ReadError(address, &valid);
    if(valid){
      if (error_state == 0x0001) { // M1 OverCurrent Warning
        Serial.println("TURN OFF DEVICE");
      }
      else if (error_state == 0x0008) { // Temperature Error
        Serial.println("OVERHEATED");
      }
      else if (error_state == 0x0100){ // M1 Driver Fault
        Serial.println("RESTART DEVICE");
      }
      else if (error_state == 0x1000) { // Temperature Warning
        Serial.println("TEMP HIGH");
      }
    } else {
      Serial.println("RESTART DEVICE");
    }
  }

[teddyort]

Also, it appears setM1PositionPID allows setting of position limits, which could be used as a safety to prevent commanding values to the hardstop.

http://downloads.basicmicro.com/docs/roboclaw_user_manual.pdf