Manual

www.nexusrobot.com Robot Kits manual
58
Set the speed for Left wheel
This will lie within the range specified at MotorWheel::setSpeedMMPS ()
Parameters:
unsigned int speedMMPS
The speed for the car to moves
bool dir=DIR_ADVANCE
The direction for the left wheel
see : MotorWheel::setSpeedMMPS ()
unsigned int wheelLeftGetSpeedMMPS() const;
Get the speed of the left wheel
This will lie within the range specified at MotorWheel::getSpeedMMPS ()
see : MotorWheel::getSpeedMMPS ()
unsigned int wheelRightSetSpeedMMPS(unsigned int speedMMPS=0,bool dir=DIR_ADVANCE);
Set the speed for right wheel
This will lie within the range specified at MotorWheel::setSpeedMMPS ()
Parameters:
unsigned int speedMMPS
The speed for the car to moves
bool dir=DIR_ADVANCE
The direction for the right wheel
see : MotorWheel::setSpeedMMPS ()
unsigned int wheelRightGetSpeedMMPS() const;
Get the speed of the right wheel
This will lie within the range specified at MotorWheel::getSpeedMMPS ()
see : MotorWheel::getSpeedMMPS ()
bool PIDEnable(float kc=KC,float taui=TAUI,float taud=TAUD,unsigned int interval=1000);
Call the PID,make it work for the car
This will lie within the range specified at MotorWheel::PIDEnable()
Parameters:
Float kc
Proportional term,initialize it