Pololu JRK 12V12 motor controller

/*
To control a motor using the Pololu JRK 12V12 motor controller, you can use the following code as a starting point:

This code uses the SoftwareSerial library to communicate with the JRK 12V12 motor controller over a serial connection. The setTargetSpeed() and setAcceleration() functions send the appropriate command bytes to the controller to set the desired speed and acceleration values, while the getCurrentSpeed() and getCurrentPosition() functions read the current speed and position values from the controller.

To use this code, you will need to connect the JRK 12V12 motor controller to your Arduino as follows:

1. Connect the TX pin on the JRK 12V12 motor controller to the RX pin (pin 10) on the Arduino.
2. Connect the RX pin on the JRK 12V12 motor controller to the TX pin (pin 11) on the Arduino.
3. Connect the GND pin on the JRK 12V12 motor controller to the GND pin on the Arduino.
4. Connect the motor power supply to the VIN and GND pins on the JRK 12V12 motor controller.

Connect the motor to the OUTA and OUTB pins on the JRK 12V12 motor controller.
Note that you will need to adjust the values passed to the setTargetSpeed() and setAcceleration() functions to suit your specific motor and application. The speed value should be in the range of 0 to 4000 (where 0 is full stop and 4000 is full speed), while the acceleration value should be in the range of 0 to 32000 (where 0 is no acceleration and 32000 is maximum acceleration).

Also, keep in mind that the JRK 12V12 motor controller provides a variety of other features and settings that can be configured through the serial interface, such as feedback control, PID tuning, input mapping, and more. Please refer to the JRK 12V12 user's guide and the Pololu website for more information and examples.
*/

#include <SoftwareSerial.h>

SoftwareSerial jrkSerial(10, 11); // RX, TX pins

void setup() {
  Serial.begin(9600);
  jrkSerial.begin(9600);
}

void loop() {
  // Set the target speed and acceleration/deceleration values
  setTargetSpeed(200); // Set the speed to 200 (0 to 4000 range)
  setAcceleration(200); // Set the acceleration to 200 (0 to 32000 range)

  // Read the current speed and position values
  int currentSpeed = getCurrentSpeed();
  int currentPosition = getCurrentPosition();

  // Print the values to the serial monitor
  Serial.print("Speed: ");
  Serial.print(currentSpeed);
  Serial.print(" | Position: ");
  Serial.println(currentPosition);

  delay(500);
}

void setTargetSpeed(int speed) {
  // Set the target speed value (0 to 4000 range)
  jrkSerial.write(0xAA); // Device Command byte
  jrkSerial.write(0xC0); // Set Target command byte
  jrkSerial.write(speed & 0x1F); // Low 5 bits of speed
  jrkSerial.write(speed >> 5 & 0x7F); // High 7 bits of speed
}

void setAcceleration(int acceleration) {
  // Set the acceleration value (0 to 32000 range)
  jrkSerial.write(0xAA); // Device Command byte
  jrkSerial.write(0xE0); // Set Acceleration command byte
  jrkSerial.write(acceleration & 0x7F); // Low 7 bits of acceleration
  jrkSerial.write(acceleration >> 7 & 0x7F); // High 7 bits of acceleration
}

int getCurrentSpeed() {
  // Read the current speed value (0 to 4000 range)
  jrkSerial.write(0xAA); // Device Command byte
  jrkSerial.write(0xA1); // Get Target/Speed command byte
  delay(10);
  int response = jrkSerial.read();
  int speed = jrkSerial.read() + (response & 0x1F) * 256;
  return speed;
}

int getCurrentPosition() {
  // Read the current position value (0 to 4095 range)
  jrkSerial.write(0xAA); // Device Command byte
  jrkSerial.write(0xA2); // Get Position command byte
  delay(10);
  int response = jrkSerial.read();
  int position = jrkSerial.read() + (response & 0x0F) * 256;
  return position;
}