Manual

www.nexusrobot.com Robot Kits manual
59
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 long ms=100, bool debug=false)
Last time for the car work as the same action
In the function,every 10 milliseconds,it will call the function PIDRegulate once
Parameters:
unsigned long ms=100
The time the action last
bool debug=false
A flag
unsigned int getCarSpeedMMPS() const
Get the car’s speed
This will lie within the range specified at R2WD:: wheelLeftGetSpeedMMPS() and
R2WD::wheelRightGetSpeedMMPS()
see :
R2WD:: wheelLeftGetSpeedMMPS()
R2WD:: wheelRightGetSpeedMMPS()
unsigned int setCarSpeedMMPS(unsigned int speedMMPS=0,unsigned int ms=1000);
Set the car’s speed, when the car’s state was one of the following :
STAT_ADVANCE
STAT_BACKOFF