RP6 ROBOT SYSTEM - 4. Programming the RP6
as
70
⋅
5
=
350
counted encoder-segments per second (corresponding to ca. 8 up to
8.7 cm/s – depending on the real encoder resolution). The minimal controllable rota-
tional speed is around
10
⋅
5
=
50
and the maximal rotational speed is approximately
200
⋅
5
=
1000
. Chapter 2 already mentioned the reasons for this speed limit, but we
even recommend to limit it to a value of 160 for continous movements and use 200
only for short times!
getLeftSpeed()
and
getRightSpeed()
These macros allow you to read the measured rotational speed. They will return val-
ues with the same unit as described above.
void changeDirection(uint8_t dir)
This function will set the motors rotational direction. As already discussed, first the ro-
bobt will decelerate, then change the direction and finally accelerate to the previous
setpoint speed.
The following parameters are supported:
FWD
– ForWarDs
BWD
– BackWarDs
LEFT
– rotate left
RIGHT
– rotate right
The macro:
getDirection()
allows you to read the current direction.
Example:
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#include "RP6RobotBaseLib.h"
int
main
(
void
)
{
initRobotBase
();
// Initialize the Microcontroller
powerON
();
// Activate Encoders and Motor current sensors!
moveAtSpeed
(
60
,
60
);
// Set desired speed
startStopwatch1
();
// Start Stopwatch1
while
(
true
)
{
if
(
getStopwatch1
()
>
4000
)
// Have 4000ms (= 4s) passed by?
{
// Change moving direction:
if
(
getDirection
()
==
FWD
)
// If we are driving forwards,
changeDirection
(
BWD
);
// then set direction to backwards!
else
if
(
getDirection
()
==
BWD
)
// If we are driving backwards,
changeDirection
(
FWD
);
// then set direction to forwards!
setStopwatch1
(
0
);
// Reset Stopwatch1
}
task_motionControl
();
// Automatic motion control
task_ADC
();
// has to be called for the current sensors.
}
return
0
;
}
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