Dome Drive Configuration

Dome Drive Configuration

This page covers the settings available in the web UI's Dome Drive Configuration screen. The options shown depend on which dome drive system is compiled in.

For initial setup and calibration steps, see the page for your drive system:

• RoboClaw Encoder Drive
• Basic PWM / Syren 10
• Roam-a-dome

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RoboClaw Settings

Setting	Description
RoboClaw Address	Packet-serial address of your RoboClaw. Default is 128. Match what is set in Motion Studio.
Motor Channel	Which RoboClaw channel the dome motor is on (M1 or M2).
QPPS	Encoder pulses per second at full motor speed. Measure this in BasicMicro Motion Studio.
Front Offset	Degrees from the hall sensor trigger to the dome's actual front (0–359°). Lets you mount the magnet wherever is convenient and compensate in software.
Stall Timeout	Milliseconds of no encoder movement during a commanded move before the dome is declared obstructed and the motor is cut.
Decel Zone	Degrees before the target angle where the motor begins decelerating. Increase for smoother stops; decrease for more aggressive braking (5–90°).
Fudge	Dead zone around the target in degrees. The dome stops moving when within this range. Prevents the motor from hunting at the target.
Homing Speed	Motor speed (1–100) during the homing sweep. Keep this low enough that the hall sensor doesn't get missed.
Seek Speed	Motor speed (1–100) during random wander moves.
Min Speed	Minimum speed (0–30) during the deceleration approach. Prevents the motor from stalling before reaching the target.
Auto-Home on Boot	If enabled, the dome automatically runs the homing sweep at startup.