jaguar speed control of mecanum wheels

[Al Skierkiewicz]

Ether,
There is really two different PWM signals associated with speed controllers that we use. The INPUT or command PWM uses a hobby standard control that specifies a PWM pulse width coded for speed and direction. The output of our speed controllers are also PWM switching (pulse rep rate) at 150 Hz for the Victors and 15kHz for the Jaguars. Full throttle in one direction of the other produces a direction connection to battery through the "H" bridge contained in each controller. In the Jaguar, there is a short pulse even at full throttle that is used to keep the drive cap charged. The Jaguar User's Manual has info on all of it's functions and includes schematics.