Koa-PicoITX User Manual rev 1.0
14
speed speed control
torque torque control
P : proportional parameter
I : integral parameter
D : derivative parameter
-
You can set the speed, the position or the torque with the commands:
setspeed SPEED
setpos POS
settorque TORQUE
-
And stop it with stop
-
Exit the program with quit
See the source code file ~/software/libkorebot_VERSION/src/tests/kmotLE_test.c or
the KoreMotorLE user manual for details:
http://ftp.k-team.com/korebot/documentation/KoreMotorLE.UserManual.pdf
See chapter 4 PROGRAMMING" for software development.
3.7 Pan-tilt camera usage
You can connect up to two Pan-tilt cameras using the motors connectors (chapter 2.2:
"Koa-PicoITX Overview": M0 and M1 for the first one, M2 and M3 and another
KoreMotorLE needed). See the Pan-Tilt user manual for more details about the connections:
http://ftp.k-team.com/koala/pan-tilt/PanTiltCameraManual.pdf
In the directory ~/software/libkorebot_VERSION/src/tests , the kmotLE_pantilt
program is already compiled. This program makes the pan-tilt camera moving. Run it with the
command:
./kmotLE_pantilt MOT0 MOT1 [NB_CYCLES]
where
MOT0: PAN motor number (usually 1)
MOT1: TILT motor number (usually 2)
[NB_CYCLES]: optional: number of cycles
See chapter 4 PROGRAMMING" for software development.
