KiSS KIPR Link, Руководство пользователя

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Page 41
create_drive_direct(
<
left motor speed
>
,
<
right motor speed
>
)
Specifies individual left and right motor speeds from 20-500 mm/sec (plus or minus)
As the iRobot Create operates, it accumulates data on distance traveled and angle turned through.
There are also "
set_create
" and "
get_create
" functions in the KIPR Link Create Library for initializing and
obtaining these measures. The complete listing is in the appendix. Two commonly used set_create and
get_create pairings are :
set_create_distance(value)
Initializes the distance accumulation (in mm) to the specified value.
get_create_distance()
Returns the distance (in mm) that the center of the iRobot Create has traveled since the
distance accumulation was last initialized.
set_create_total_angle(value)
Initializes the total turn angle accumulation (in degrees) to the specified value.
get_create_ distance()
Returns the total angle (in degrees) that the iRobot Create has turned through since the total
angle accumulation was last initialized.
"
get_create
" functions in the KIPR Link Create Library are also used for querying the iRobot Create
regarding the status of its sensors; for example,
get_create_lbump()
Returns the value of the left bump sensor (pressed = 1, not pressed = 0)