K-Team Koala 2.5, User Manual

Page: 43 / 53

Koala 2.5 User Manual Rev 1.1 40
G Read the Ultrasonic sensor
Command:
G
↵ ↵↵ ↵
Answer: g, Left, Left_Front, Front_Left, Front, Front_Right,
Right_Front, Right, Rear_Right, Rear_Left \r
Function: Reads the Ultrasonic sensor value. The returned value
corresponds to the distance of the first obstacle seen by the
sensor (unit: cm). Each sensor can be disabled if not
necessary. Here are the possible values:
0: Obstacle <25cm
25-250: Obstacle distance
1000: No obstacle detected
2000: Sensor disabled
Example: G
↵
g,50,60,180,250,200,1000,2000,0,0\r
H Configure PID controller
Command:
H,Kp,Ki,Kd
↵
↵↵
↵
Answer: h \r
Function:
Configures the PID controller value used for the speed control.
Example: H,10,5,1
↵
h\r
I
Set the position encoder value
Command:
I,MotL_Pos, MotR_Pos
↵
↵↵
↵
Answer: i \r
Function: Resets the position encoder value of the motor.
If set during a position control move, the motors will be
stopped to avoid an incorrect behaviour.
Example: I,0,10000
↵
i\r