NEX ROBOTICS Fire Bird V ATMEGA2560 Software Manual page 71

NEX Robotics
4.2.3.2 Function for moving robot forward and back by specific distance
//Function used for moving robot forward by specified distance
void linear_distance_mm(unsigned int
{
float ReqdShaftCount = 0;
unsigned long int ReqdShaftCountInt = 0;
ReqdShaftCount = DistanceInMM / 5.338;
ReqdShaftCountInt =
ShaftCountRight = 0;
while(1)
{
if(ShaftCountRight > ReqdShaftCountInt)
{
break;
}
}
stop(); //Stop robot
}
4.2.3.3 Forward in mm
void forward_mm(unsigned int
{
forward();
linear_distance_mm(DistanceInMM);
}
4.2.3.4 Backward in mm
void back_mm(unsigned int
{
back();
linear_distance_mm(DistanceInMM);
}
4.2.3.5 left in degrees
void left_degrees(unsigned int
{
// 88 pulses for 360 degrees rotation 4.090 degrees per count
left(); //Turn left
angle_rotate(Degrees);
}
4.2.3.6 right in degrees
void right_degrees(unsigned int
{
// 88 pulses for 360 degrees rotation 4.090 degrees per count
right(); //Turn right
angle_rotate(Degrees);
}
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DistanceInMM)
// division by resolution to get shaft count
(unsigned long int) ReqdShaftCount;
DistanceInMM)
DistanceInMM)
Degrees)
Degrees)
Fire Bird V Software Manual
71