Manual

www.nexusrobot.com Robot Kits manual
82
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
bool debug=false
A flag
void debugger(bool wheelBackDebug=true,bool wheelRightDebug=true,bool wheelLeftDebug=true)
const
Debug the speed of the wheel
Car _state enum
Used to configure the behavior of a car.
Note that not all car can be configured in every state.
Variables:
STAT_UNKNOWN
The state of the car unknown