?BS inquiry for HBL2360

does the ?BS inquiry send the speed of both motors?

or like with the read amps inquiry, can the motor index be included?

read amps Examples:
Q: ?A
R: A=100:200

and similarly for the speed

Read BL Motor Speed in RPM Examples:
Q: ?BS
R: BS=1000:2000

Q: ?BS 1
R: BS=1000

When you don't use the index, to reference which you are querying, then it will default to check both.

If you send ?V, then it will query all 3 voltages.

vdr = internal voltage in Volts *10
vmot = main battery voltage in Volts *10
v5out = 5V output on DSub connector in millivolts

So if you are only wanting to read back 1 specific motor speed, then you need to include the index as you have seen in your included example.

Thanks Griffin,

Is the data for the motor speed signed (i.e. positive for say clockwise motor rotation, and negative for counterclockwise or vice versa)?

Does the same apply for Read Motor Amps (i.e. positive for batt discharge and negative for batt charge or vice versa)?

The number will be negative if going in the reverse direction, and positive in the forward direction. If that is not the case, then you need to set the number of pole pairs to a negative value in the configuration settings.

The easiest way to find out is to go into the run tab of the Roborun+ utility. You can set some predefined queries for the utility to check including the values you are looking for.