Manual

www.nexusrobot.com Robot Kits manual
115
¾ 4WD platform with 4 SONAR
Look the above figure of simple Wiring Diagram for RB011 ,Mecanum 4WD V4.1. this code is matched
for it
4WD platform with 4 SONAR code
#include <MotorWheel.h>
#include <Omni4WD.h>
#include <PID_Beta6.h>
#include <PinChangeInt.h>
#include <PinChangeIntConfig.h>
#include <SONAR.h> // Include the header files
/*
************************************************************************************
Sonar:0x12
---------------------------------
| |
M3 | | M2
| |
Sonar:0x13 | | Sonar:0x11
| |
| | Power Switch
| |
| |
-----------------------------------
| |
M4 | | M1
| |
------------------------------------
Sonar:0x14
************************************************************************************
*/
irqISR(irq1,isr1); // Intterrupt function.on the basis of the pulse, work for wheel1
MotorWheel wheel1(3,2,4,5,&irq1); //This will create a MotorWheel object called Wheel1
//Motor PWM:Pin3, DIR:Pin2, Encoder A:Pin4, B:Pin5
irqISR(irq2,isr2);
MotorWheel wheel2(11,12,14,15,&irq2);
irqISR(irq3,isr3);
MotorWheel wheel3(9,8,16,17,&irq3);