Movement

Functions fo controlling robot motion Higher level functions to control the movement of robots. More...

Defines
#define	FWD   0
	Move forwards.
#define	BCK   1
	Move backwards.
#define	SLOW_SPD   96
	A slow speed.
#define	HALF_SPD   128
	Half of the full speed.
#define	NRML_SPD   160
	A normal speed.
#define	FAST_SPD   192
	A fast speed.
#define	FULL_SPD   255
	The maximum speed.
#define	SLOW_TURN   64
	A slow turning speed.
#define	NRML_TURN   96
	A medium turning speed.
#define	FAST_TURN   128
	A high turning speed.
Functions
void	move (int velocity, int omega)
	Move the robot at the specified velocity.
void	move_avoid (int velocity, int omega, int strength)
	Move the robot while avoiding obstacles.

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Detailed Description

Functions fo controlling robot motion Higher level functions to control the movement of robots.

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Function Documentation

void move	(	int	velocity,
		int	omega
	)

Move the robot at the specified velocity.

Causes the robot to move with the given translation and rotational velocities. motors_init must be called before this function can be used.

Parameters:

	velocity	the translational velocity of the robot, in the range -255 to 255. A positive value indicates forward motion, while a negative value indicates backwards motion.
	omega	the rotational velocity of the robot, in the range -255 to 255. A positive value indicates a counterclockwise velocity, while a negative value indicates a clockwise velocity.

See also:

motors_init, motor1_set, motor2_set

void move_avoid	(	int	velocity,
		int	omega,
		int	strength
	)

Move the robot while avoiding obstacles.

Moves the robot with the given translational and angular velocities while avoiding obstacles. To be effective, this function must be called repeatedly throughout the motion. It relies on the IR rangefinders to detect obstacles. Before calling this function, motors_init and range_init must be called.

Parameters:

	velocity	the translational velocity of the robot, in the range -255 to 255. A positive value indicates forward motion.
	omega	the rotational velocity of the robot, in the range -255 to 255. A positive value indicates a counterclockwise velocity.
	strength	the strength of the avoid behavior, in the range 0 to 100.

See also:

motors_init, range_init, move

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