Basicmicro (MCP / RoboClaw) Example

This example demonstrates how to use the espp::Basicmicro component to talk to a Basicmicro MCP236 / MCP266 (or RoboClaw-family) motor controller over UART using the packet serial protocol. It:

1. reads the firmware version, main battery voltage and unit status,

2. resets the encoders,

3. runs a gentle duty-cycle ramp on motor 1 while reading back the encoder count and speed, then ramps back down and stops, and

4. periodically logs the motor currents and board temperature.

Table of Contents

• Basicmicro (MCP / RoboClaw) Example

  • Requirements

  • Hardware

  • Build

  • Flash and Monitor

Requirements

• ESP-IDF installed and get_idf available in your shell

• A Basicmicro MCP / RoboClaw controller configured for packet serial mode at 38400 baud, address 0x80 (the defaults used by this example)

Hardware

ESP32 (this example)	MCP / RoboClaw
GPIO 17 (UART1 TX)	S1 (RX)
GPIO 16 (UART1 RX)	S2 (TX)
GND	GND

Adjust the pins / port / baud rate at the top of basicmicro_example.cpp to match your wiring.

Build

# From repo root
cd components/basicmicro/example
get_idf
idf.py set-target esp32
idf.py build

Flash and Monitor

idf.py flash monitor