NEX ROBOTICS Fire Bird V ATMEGA2560 Software Manual page 60

NEX Robotics
3.6.4.3 Robot direction set functions
Sets robot's direction
void forward (void)
{
motion_set(0x06);
}
void back (void) //both wheels backward
{
motion_set(0x09);
}
void left (void) //Left wheel backward, Right wheel forward
{
motion_set(0x05);
}
void right (void) //Left wheel forward, Right wheel backward
{
motion_set(0x0A);
}
void soft_left (void)
{
motion_set(0x04);
}
void soft_right (void)
{
motion_set(0x02);
}
void soft_left_2 (void)
{
motion_set(0x01);
}
void soft_right_2 (void)
{
motion_set(0x08);
}
void stop (void) //hard stop if PORTL 3 and PORTL 4 pins are at logic 1
{
motion_set(0x00);
}
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//both wheels forward
//Left wheel stationary, Right wheel forward
//Left wheel forward, Right wheel is stationary
//Left wheel backward, right wheel stationary
//Left wheel stationary, Right wheel backward
Fire Bird V Software Manual
60