www.nexusrobot.com Robot Kits manual
40
unsigned int
setSpeedRPM
(int speedRPM,bool dir)
Set the speed and direction for the motor
This will lie within the range specified at
Motor::PIDSetSpeedRPMDesired
()
, Motor::setDesiredDir
(),
Motor::getSpeedRPM
()
Parameters:
int speedRPM
The speed set for Motor
Bool dir
The direction set for Motor
See:
Motor:: PIDSetSpeedRPMDesired
()
Motor::setDesiredDir
()
Motor::getSpeedRPM
()
void
simpleRegulate
()
Regulate the speed of the Motor on the basis of the direction
bool
PIDSetup
(float kc=KC,float taui=TAUI,float taud=TAUD,unsigned int sampleTime=1000)
Setup the.The class PID use these datas to regulate the speed of Motors
Parameters:
float kc
Proportional term
float taui
Integral term
float taud
Derivative term
unsigned int sampleTime
The time the PID work last
Return:
Bool ture
bool
PIDGetStatus()
const
Get the current PID state,to sure wether the PID works
Return:
The value of the pidCtrl
bool
PIDEnable
(float kc=KC,float taui=TAUI,float taud=TAUD,unsigned int sampleTime=1000)
Enable the PID ,make it works
Summary of Contents for Nexus Robot
Page 74: ...www nexusrobot com Robot Kits manual 70 Sample Wiring Diagram for RB004 2WD V2 0...
Page 92: ...www nexusrobot com Robot Kits manual 88 Diagram for Omni3WD_V1 0...
Page 96: ...www nexusrobot com Robot Kits manual 92 Diagram_Omni3WD_V3 3...
Page 118: ...www nexusrobot com Robot Kits manual 114 Sample Wiring Diagram for RB011 Mecanum 4WD V4 1...
