Nexus Automation Nexus Robot, User Manual, Page: 73 / 128

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MotorWheel wheel2(10,11,6,7,&irq2,REDUCTION_RATIO,int(144*PI));
R2WD _2WD(&wheel1,&wheel2,WHEELSPAN);
// This will create a R2WD object called R2WD. You
// can then use any of its methods; for instance, to
// control a R2WD attached to pins, you could write
void setup() {
//TCCR0B=TCCR0B&0xf8|0x01; // warning!! it will change millis()
TCCR1B=TCCR1B&0xf8|0x01; // Pin9,Pin10 PWM 31250Hz
//TCCR2B=TCCR2B&0xf8|0x01; // Pin3,Pin11 PWM 31250Hz
_2WD.PIDEnable(0.26,0.01,0,10); // Enable PID
}
void loop() {
_2WD.demoActions(100,5000); // Call the demoActions from the
Class R2WD
/*
_2WD.setCarAdvance(0);
_2WD.setCarSpeedMMPS(100,500);
_2WD.delayMS(5000);
_2WD.setCarSlow2Stop(500);
_2WD.setCarBackoff(0);
_2WD.setCarSpeedMMPS(100,500);
_2WD.delayMS(5000);
_2WD.setCarSlow2Stop(500);
*/
}