Manual

www.nexusrobot.com Robot Kits manual

¾ Omni3WD_test

Here’s an example ,we use it to test a car with three wheels.after this ,you will More thorough

understanding of the library

Simple code:

#include <MotorWheel.h>

#include <Omni3WD.h>

#include <Omni4WD.h>

#include <PID_Beta6.h>

#include <PinChangeInt.h>

#include <PinChangeIntConfig.h> // Include the header files

Wheel3 // \\ Wheel2

Wheel1

irqISR(irq1,isr1); // Intterrupt function.on the basis of the pulse ,work for wheel1

MotorWheel wheel1(9,8,6,7,&irq1); //This will create a MotorWheel object called Wheel1

//Motor PWM:Pin9, DIR:Pin8, Encoder A:Pin6, B:Pin7

irqISR(irq2,isr2);

MotorWheel wheel2(10,11,12,13,&irq2);

irqISR(irq3,isr3);

MotorWheel wheel3(3,2,4,5,&irq3);

//MotorWheel wheel3(5,4,2,3,&irq3);

// why not this?? Because the pin 5,pin 6 control by timer 0

Omni3WD Omni(&wheel1,&wheel2,&wheel3);

// This will create a Omni3WD object called Omni3WD.

//You can then use any of its methods; for instance,