KiSS KIPR Link, Руководство пользователя

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create_start [Category: Create Configuration Function]
Format:
void create_start();
Puts Create back into active mode (all commands will work). Active mode is the default mode at
power on.
get_create_mode [Category: Creat Configuration e Function]
Format:
int get_create_mode();
Returns the Create's current operating mode (0=off, 1=passive, 2=safe, 3=full). In passive mode,
motor commands don't work. All commands work in safe or full mode. In safe mode, the Create
will stop all motors and disconnect if any cliff sensors or wheel drop sensors go high. In full
mode, the Create will continue any movement commands and remain connected regardless of
sensor values.
Create movement functions
create_drive [Category: Create Movement Function]
Format:
void create_drive( int speed, int radius);
Drives in an arc (see below for point turns and straight). Speed range for all commands is 20-
500mm/sec.
create_drive_direct [Category: Create Movement Function]
Format:
void create_drive_direct( int r_speed, int l_speed);
Specifies individual left and right speeds in mm/sec.
create_drive_straight [Category: Create Movement Function]
Format:
void create_drive_straight( int speed);
Drives straight at speed in mm/sec.
create_spin_CW [Category: Create Movement Function]
Format:
void create_spin_CW( int speed);
Spins Clockwise with edge speed of speed in mm/sec.
create_spin_CCW [Category: Create Movement Function]
Format:
void create_spin_CCW( int speed);
Spins Counterclockwise with edge speed of speed in mm/sec.
create_stop [Category: Create Movement Function]
Format:
void create_stop();
Stops the drive wheels.
get_create_distance [Category: Create Movement Function]
Format:
int get_create_distance();
Returns the accumulated distance the Create has traveled since it was turned on or since the
distance was reset. Moving backwards reduces this value. The distance is in millimeters.
get_create_normalized_angle [Category: Create Movement Function]
Format:
int get_create_normalized_angle();
Returns the accumulated angle the Create has turned since it was turned on or the distance was
reset, normalized to the range 0 to 359 degrees. Turning CCW increases this value and CW
decreases the value.