Manual

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According to the User’s demands ,use the class PID to set the speed of Motor.

This will lie within the range specified at PID::PIDGetSpeedRPMDesired()

parameters

Unsigned int speedRPM

The speed User want to set

See: PID::PIDGetSpeedRPMDesired()

unsigned int PIDGetSpeedRPMDesired() const

Get the desired speed

Return: speedRPMDesired

void debugger() const

Debug to sure if the result is right

int getSpeedPPS() const

Get the pulse rate (pulse per second)

Return: speedPPS

long getCurrPulse() const

Get the current Pulse

Return: Pulses

long setCurrPulse(long _pulse)

Set pulse

This will lie within the range specified at Motor::getCurrPulse()

parameters

Long _pulse

The value want to set

See: Motor::getCurrPulse()

long resetCurrPulse()

Reset the current Pulse

This will lie within the range specified at Motor::SetCurrPulse()

See: Motor::SetCurrPulse()

Struct ISRVars * isr