Pololu 0J5840, Руководство пользователя

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// The variable c will have values from 0 to 9, since
// values are in the range of 0 to 1000, and 1000/101 is 9
// with integer math.
char c = bar_graph_characters[sensors[i]/101];
// Display the bar graph characters.
print_character(c);
}
}
// set the motor speeds
void slave_set_motors( int speed1, int speed2)
{
char message[4] = {0xC1, speed1, 0xC5, speed2};
if (speed1 < 0)
{
message[0] = 0xC2; // m1 backward
message[1] = -speed1;
}
if (speed2 < 0)
{
message[2] = 0xC6; // m2 backward
message[3] = -speed2;
}
serial_send_blocking(message,4);
}
// do calibration
void slave_calibrate()
{
serial_send( "\xB4" ,1);
int tmp_buffer[5];
// read 10 characters (but we won't use them)
serial_receive_blocking(( char *)tmp_buffer, 10, 100);
}
// reset calibration
void slave_reset_calibration()
{
serial_send_blocking( "\xB5" ,1);
}
// calibrate (waits for a 1-byte response to indicate completion)
void slave_auto_calibrate()
{
int tmp_buffer[1];
serial_send_blocking( "\xBA" ,1);
serial_receive_blocking(( char *)tmp_buffer, 1, 10000);
}
// sets up the pid constants on the 3pi for line following
void slave_set_pid( char max_speed, char p_num, char p_den, char d_num, char d_den)
{
char string[6] = "\xBB" ;
string[1] = max_speed;
string[2] = p_num;
string[3] = p_den;
string[4] = d_num;
string[5] = d_den;
serial_send_blocking(string,6);
}
Pololu 3pi Robot User’s Guide © 2001–2019 Pololu Corporation
10. Expansion Information Page 79 of 85