3.a.06. Command 228: Joint Motor Drive with Acceleration (in2 = ~in1)

Effect: See “Independent Motor Drive with Acceleration” (Section 3.a.04) command. Joint Motor Drive uses the dual motor drivers together as a single, more powerful motor driver. When operating in joint motor mode, settings for operation are determined by “motor 1” (motor bit = 0) settings while “motor 2” settings are ignored.

Values sent: in1 (1 bit), PWM (8 bits)

command byte = 228 + (in1 bit << 1) + MSB of PWM

data byte = 7 lower bits of PWM byte