Mindsensors NXTMMX-v2, Руководство пользователя, Страница: 9 / 14

0x7E Kd for Encoder Position
Control (int)
0x7E: Least Significant Byte
0x7F: Most Significant Byte
Kd for Encoder Position
Control (int)
0x80 Kp for Speed Control (int)
0x80: Least Significant Byte
0x81: Most Significant Byte
Kp for Speed Control (int)
0x82 Ki for Speed Control (int)
0x82: Least Significant Byte
0x83: Most Significant Byte
Ki for Speed Control (int)
0x84 Kd for Speed Control (int)
0x84: Least Significant Byte
0x85: Most Significant Byte
Kd for Speed Control (int)
0x86 Pass Count – The PID
controller repeatedly reads
internal encoder ticks, this is
the number of times the
encoder ticks reading should
be within tolerance. (default
5) Pass Count – Higher Pass
count gives more time to
position internal encoder, thus
providing better accuracy in
positioning, but will take
longer time. Change this only
if you need different motor
positioning speeds and
accuracy. (For normal usage,
default values will be OK).
0x87 Tolerance – The Tolerance (in
ticks) for encoder positioning.
(default 80). Tolerance – the accuracy you
desire while positioning. Low
number will position the
encoders more accurately, but
may take longer time. Change
this only if you need different
motor positioning speeds and
accuracy. (For normal usage,
default values will be OK).
0x90 Voltage value
Supported I2C Commands:
CMD Hex Description
R 0x52 Reset all Encoder values and motor parameters. (This
does not reset the PID parameters).
S 0x53 Issue commands to both motors at the same time, for
Synchronized starting of both motors.
Motor Stopping Commands
a 0x61 Motor 1: Float while stopping.
b 0x62 Motor 2: Float while stopping.
c 0x63 Motor 1 and 2: Float while stopping.
A 0x41 Motor 1: Brake while stopping.
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