Documents » Orangutan X2 Command Documentation v1.01 » 3.a. Motor Commands »

3.a.03. Command 136: Independent Motor Drive (inB = ~inA)

Effect: Causes the specified motor to immediately drive forward (inA bit = 0) or reverse (inA bit = 1) with the desired PWM

Values sent: motor (1 bit), inA (1 bit), PWM (8 bits)

command byte = 136 | (motor bit << 2) | (inA bit << 1) | MSB of PWM

data byte = 7 lower bits of PWM byte