Motor controls using Kangaroo x2 packet serial

Other Hardware Robotics
1

Hi ,

I am trying to connect kangaroo x2 + Sabertooth 2x12 motor controller using serial interface . As first step I am connecting kangaroo x2 + Sabertooth 2x12 to pc using USB TTL cable. I am using Quadrature Encoder motor ( IG42 24VDC 122 RPM Gear Motor with Encoder)

Below are dip switch settings on kangaroo and sabertooth board.
Kangaroo : 1,2,3 : ON
4 : Off ( want to configure in mixed mode )
Sabertooth: 1,2 Off
3,4,5,6 ON
I have tired DEScribe app and able to control motors ( Looks like DEScribe app is sending Sabertooh serial commands to control motors instead of kangaroo serial commands ).

When tried to control motors using .net code available @ Dimension Engineering - Libraries for .NET ( Running Examples.MixedMode ), motors are not running.

Below serial packets between pc and Kangaroo board

PC Tx : 0x80,0x23,0x04,0x44,0x50,0x01,0x01,0x1D,0x26,
Kangaroo Reply: 0x80,0x43,0x06,0x44,0x51,0x01,0x30,0x01,0x08,0x01,0x4E,
PC Tx : 0x80,0x23,0x04,0x44,0x50,0x02,0x01,0x1B,0x45,
Kangaroo Reply: 0x80,0x43,0x06,0x44,0x51,0x02,0x30,0x01,0x08,0x00,0x45,
PC Tx : 0x80,0x23,0x04,0x44,0x50,0x03,0x01,0x19,0x64,
Kangaroo Reply: 0x80,0x43,0x06,0x44,0x51,0x03,0x30,0x01,0x08,0x7F,0x43,
PC Tx : 0x80,0x23,0x04,0x44,0x50,0x04,0x01,0x76,0x08,
Kangaroo Reply: 0x80,0x43,0x06,0x44,0x51,0x04,0x30,0x01,0x08,0x02,0x53,
PC Tx : 0x80,0x20,0x03,0x44,0x40,0x31,0x56,0x51, // Starting Channel 'D'
PC Tx : 0x80,0x23,0x04,0x44,0x50,0x05,0x01,0x74,0x29,
Kangaroo Reply: 0x80,0x43,0x06,0x44,0x51,0x05,0x31,0x01,0x08,0x3B,0x12,
PC Tx : 0x80,0x23,0x04,0x54,0x50,0x01,0x01,0x6D,0x49,
Kangaroo Reply: 0x80,0x43,0x06,0x54,0x51,0x01,0x2A,0x01,0x08,0x30,0x02,
PC Tx : 0x80,0x20,0x03,0x54,0x40,0x2B,0x3B,0x29, // Starting Channel 'T'
PC Tx : 0x80,0x23,0x04,0x54,0x50,0x02,0x01,0x6B,0x2A,
Kangaroo Reply: 0x80,0x43,0x06,0x54,0x51,0x02,0x2B,0x01,0x08,0x77,0x4E,
PC Tx : 0x80,0x24,0x05,0x44,0x40,0x32,0x42,0x00,0x40,0x13 //Trying to move , but motros are not moving.
PC Tx : 0x80,0x23,0x04,0x44,0x50,0x06,0x01,0x72,0x4A,
Kangaroo Reply: 0x80,0x43,0x06,0x44,0x51,0x06,0x32,0x01,0x08,0x11,0x5A
PC Tx : 0x80,0x24,0x05,0x54,0x40,0x2C,0x42,0x00,0x70,0x5D
PC Tx : 0x80,0x23,0x04,0x54,0x50,0x03,0x01,0x69,0x0B
Kangaroo Reply: 0x80,0x43,0x06,0x54,0x51,0x03,0x2C,0x01,0x08,0x79,0x02

Why is Kangaroo always replying 0x51, which i assume setting bit 1 to say channel is not started.

Any help why kangaroo is sending channel not started even when i start both 'D' and 'T ' Channels.

2

I see no one is replying to your thread. Perhaps it is because no one knows what a kangaroo is or what a sabertooth is. If you would identify your components and give links to the detail data sheets for the items, someone might look at them and offer a suggestion.

3

Check the interface requirement specification to gain the knowledge.

4

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