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Robot.h File Reference
Go to the source code of this file.
Functions | |
| void | setSpeeds (int16_t leftSpeed, int16_t rightSpeed) |
| Sets the speed for both motors. | |
| void | setLeftSpeed (int16_t speed) |
| Sets the speed for the left motor. | |
| void | setRightSpeed (int16_t speed) |
| Sets the speed for the right motor. | |
| void | getCounts () |
| void | getCountsAndReset () |
Detailed Description
Definition in file Robot.h.
Function Documentation
| void getCounts | ( | ) |
Returns the number of counts that have been detected from the both encoders. These counts start at 0. Positive counts correspond to forward movement of the wheel of the Romi, while negative counts correspond to backwards movement.
The count is returned as a signed 16-bit integer. When the count goes over 32767, it will overflow down to -32768. When the count goes below -32768, it will overflow up to 32767.
| void getCountsAndReset | ( | ) |
This function is just like getCounts() except it also clears the counts before returning. If you call this frequently enough, you will not have to worry about the count overflowing.
| void setLeftSpeed | ( | int16_t | speed ) |
| void setRightSpeed | ( | int16_t | speed ) |
| void setSpeeds | ( | int16_t | leftSpeed, |
| int16_t | rightSpeed | ||
| ) |
Sets the speed for both motors.
- Parameters:
-
leftSpeed A number from -300 to 300 representing the speed and direction of the left motor. Values of -300 or less result in full speed reverse, and values of 300 or more result in full speed forward. rightSpeed A number from -300 to 300 representing the speed and direction of the right motor. Values of -300 or less result in full speed reverse, and values of 300 or more result in full speed forward.
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