Connecting multiple Roboclaws in Packet Serial mode

I am successfully communicating with one Roboclaw driver in Packet Serial mode (using a teensy). Now I need to add a second Roboclaw. I understand how I can assign separate addresses to them and simply wire their S1 (serial input) wires together. What I do not know is whether I can also simply wire their S2 (serial output) wires together or whether I need to implement some more sophisticated line sharing. Any help greatly appreciated.


I do not recommended that you directly connect the RoboClaws’ serial outputs together without an AND gate as this will likely result in two voltages being shorted together. The first diagram in the “Daisy Chaining” section of the of our Simple Motor Controller user’s guide shows how an AND gate would be used in this application.

- Grant