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59
Float taui
Integral term
Float taud
Derivative term
Unsigded int interval
The time the PID work last
see :
MotorWheel::PIDEnable
()
bool
PIDRegulate
()
Regulate the PID ,in order to adjust the speed of the Motor.
This will lie within the range specified at
MotorWheel:: PIDRegulate
()
see :
MotorWheel:: PIDRegulate
()
void
delayMS
(unsigned long ms=100, bool debug=false)
Last time for the car work as the same action
In the function,every 10 milliseconds,it will call the function PIDRegulate once
Parameters:
unsigned long ms=100
The time the action last
bool debug=false
A flag
unsigned int
getCarSpeedMMPS
() const
Get the car’s speed
This will lie within the range specified at
R2WD:: wheelLeftGetSpeedMMPS
() and
R2WD::wheelRightGetSpeedMMPS
()
see :
R2WD:: wheelLeftGetSpeedMMPS
()
R2WD:: wheelRightGetSpeedMMPS
()
unsigned int
setCarSpeedMMPS
(unsigned int speedMMPS=0,unsigned int ms=1000);
Set the car’s speed, when the car’s state was one of the following :
STAT_ADVANCE
STAT_BACKOFF
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