User Manual
MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
156
DIST
Syntax
dist motor,speed,accel,distance,buffer
• Motor - is a variable, constant or expression that species which motor to access.
• Speed - is a variable, constant or expression that sets the speed to run the motor at.
• Accel - is a variable, constant or expression that sets the acceleration/decceleration to
use when the motor speeds up or slows down to the specied speed.
• Distance - is a variable, constant or expression that species the distance to move the motor.
• Buffer - is a variable, constant or expression that determines if the command will be buffered(0)
or execute immediately(1) overriding any currently running command on the motor.
Description
The DIST command is used to control a motor using an encoder with a Velocity PID control
algorithm. The user must have tuned the Velocity PID settings for the motor before using the
DIST command. With a properly tuned Velocity PID accurate relative movments can be made
by the motor. Note that multiple DIST commands can be chained together by buffering the
commands. As each command nishes the next will start executing.
;code assumes the velcoity PID settings for the specic motor are correctly tuned.
main
dist 0,12000,12000,12000,0
dist 0,-12000,12000,12000,0
;wait until second command has started to execute and repeat
while(MOTORBUFFER(0)&0x7F<>0)
wend
goto main