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Robot Kits manual
¾ Communication Protocols.......................................................................27
¾ Sensor Connection ..................................................................................29
¾ Sensor Networking..................................................................................29
¾ APC220 Module ............................................................................................30
¾ Parameters...............................................................................................30
¾ Kit list......................................................................................................30
¾ This module used to connect PC port. ....................................................30
Pin Change Interrupt..........................................................................................31
¾ PinChangeInt Library.....................................................................................31
PID Control..........................................................................................................33
¾ What Is PID....................................................................................................33
¾ The Library ....................................................................................................33
Servo control Theory .........................................................................................34
¾ The PWM signal ............................................................................................35
Motorwheel..........................................................................................................36
¾ Motorwheel Class Reference .........................................................................36
¾ Class Motor Reference............................................................................37
¾ Class GearedMotor .................................................................................43
¾ Class MotorWheel ..................................................................................45
¾ R2WD ............................................................................................................49
¾ R2WD Class Reference ..........................................................................49
¾ Public functions ......................................................................................49
¾ Private parameters...................................................................................62
¾ R2WD_test..............................................................................................68
¾ 2WD platform with 3 SONAR ...............................................................71
¾ Omni3WD......................................................................................................74
¾ Omni3WD Class Reference....................................................................75
¾ Public functions ......................................................................................76
¾ Private parameters...................................................................................84
¾ Omni3WD_test .......................................................................................86
¾ Omni3WD platform with 3 SONARS ....................................................89
¾ Omni3WD platform with 6 SONARS ....................................................93
¾ Omni4WD......................................................................................................97
¾ Omni4WD Class Reference....................................................................98
¾ Public functions ......................................................................................98
¾ Private parameters.................................................................................109
¾ Omni4WD_test .....................................................................................112
¾ 4WD platform with 4 SONAR .............................................................115
¾ Servo Motor .................................................................................................118
¾ Servo_3WD platform with 3 SONAR ..................................................122
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