Manual

www.nexusrobot.com Robot Kits manual
87
// to control a Omni3WD attached to pins, you could write
void setup() {
TCCR1B=TCCR1B&0xf8|0x01; // Timer1.Pin9,Pin10 PWM 31250Hz
TCCR2B=TCCR2B&0xf8|0x01; // Timer2 .Pin3,Pin11 PWM 31250Hz
Omni.PIDEnable(0.26,0.02,0,10); // Enable PID
}
void loop() {
Omni.demoActions(100,5000,1000,false);
//Call the demoActions speedMMPS=100 duration=5000 uptime =1000.
/*
Omni.setCarLeft(0);
Omni.setCarSpeedMMPS(300,1000);
Omni.delayMS(10000,true);
Omni.setCarSlow2Stop(1000);
Omni.setCarRight(0);
Omni.setCarSpeedMMPS(100,1000);
Omni.delayMS(10000,true);
Omni.setCarSlow2Stop(1000);
Omni.setCarLeft(100);
for(int i=0;i<1000;++i) {
Omni.PIDRegulate();
delay(10);
}
Omni.setCarRight(100);
for(int i=0;i<1000;++i) {
Omni.PIDRegulate();
delay(10);
}
*/
}