Manual

www.nexusrobot.com Robot Kits manual
107
The speed for the wheel run,initialize it
bool dir=DIR_ADVANCE
The direction for the wheel run
See: MotorWheel::setSpeedMMPS()
bool PIDEnable(float kc=KC,float taui=TAUI,float taud=TAUD,unsigned int interval=1000)
Call the PID,make it work for the car. Then this will work for every wheels
This will lie within the range specified at MotorWheel::PIDEnable()
Parameters:
Float kc
Proportional term,initialize it
Float taui
Integral term
Float taud
Derivative term
Unsigded int interval
The time the PID work last
see : MotorWheel::PIDEnable()
bool PIDRegulate()
Regulate the PID ,in order to adjust the speed of the Motor.
This will lie within the range specified at MotorWheel:: PIDRegulate()
see : MotorWheel:: PIDRegulate()
void delayMS(unsigned int ms=100, bool debug=false)
The time used for the car work as the same action
In the function,every 10 milliseconds,it will call the function PIDRegulate once time
Parameters:
unsigned long ms=100
The time the action last,initialize it
bool debug=false
A flag