KiSS KIPR Link, Руководство пользователя

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The C language prototypes for these five functions are:
void motor( int m, int p);
void mav( int m, int vel);
void mrp( int m, int vel, int ticks);
void bmd( int m);
void ao();
void off( int m);
Other Functions Commonly Used With the KIPR Link
msleep(
<
milliseconds
>
)
KIPR Link Library function that pauses the currently executing thread, resuming execution of the
thread after a time equal to or slightly greater than the number of milliseconds specified.
printf(
<
string
>
, . . .)
Standard C library function for formatting output directed to standard out (which is the program
output console screen for the KIPR Link). If the string contains % codes then the arguments
after the initial string (the . . . portion of the function's arguments) will be printed in place of the
% codes using the format specified by the matching % code. See the Appendix or consult a C
language reference for a listing of % codes and how they are interpreted for formatting data.
beep()
KIPR Link Library function that creates a short beep sound.
The C language prototypes for these three functions are:
void msleep( int msecs);
int printf( char s[], ...);
(
...
represents 0 or more values corresponding to % codes present in s)
void beep();
Example use of these functions (along with motor functions, motor in motor port 2):
int t= 1000 , m= 2 ;
mrp(m, 500 , 500 ); // move motor at 500 ticks per second
printf( "Running m%d %d mseconds\n" ,m,p); // use %d for int values
msleep(t); // suspend the current thread for p milliseconds
off(m); // turn off motor
beep(); // beep when thread resumes executing
In 1 second the motor should move 500 ticks. In contrast to using
bmd
,
msleep
forces the motor off
after 1 second even if it is short of its target position. The
printf
output will be
Running m2 1000 mseconds
For more information on KIPR Link Library functions, consult the on-line documentation under the KISS
IDE
Help
tab as well as the appendices to this Guide.