Pololu 0J5840, Руководство пользователя

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372 character = read_next_byte();
if (check_data_byte(character))
return ;
// Before printing to the LCD we need to go to AUTOMATIC mode.
// Otherwise, we might miss characters during the lengthy LCD routines.
serial_set_mode(SERIAL_AUTOMATIC);
print_character(character);
serial_set_mode(SERIAL_CHECK);
}
}
// Goes to the x,y coordinates on the lcd specified by the two data bytes
void do_lcd_goto_xy()
{
unsigned char x = read_next_byte();
if (check_data_byte(x))
return ;
unsigned char y = read_next_byte();
if (check_data_byte(y))
return ;
lcd_goto_xy(x,y);
}
// Runs through an automatic calibration sequence
void auto_calibrate()
{
time_reset();
set_motors(60, -60);
while (get_ms() < 250)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(-60, 60);
while (get_ms() < 750)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(60, -60);
while (get_ms() < 1000)
calibrate_line_sensors(IR_EMITTERS_ON);
set_motors(0, 0);
serial_send_blocking( "c" ,1);
}
// Turns on PID according to the supplied PID constants
void set_pid()
{
unsigned char constants[5];
unsigned char i;
for (i=0;i<5;i++)
{
constants[i] = read_next_byte();
if (check_data_byte(constants[i]))
return ;
}
// make the max speed 2x of the first one, so that it can reach 255
max_speed = (constants[0] == 127 ? 255 : constants[0]*2);
// set the other parameters directly
p_num = constants[1];
Pololu 3pi Robot User’s Guide © 2001–2019 Pololu Corporation
10. Expansion Information Page 73 of 85