Nikolas Goldin
Library for the m3pi robot. This works with a Pololu 3pi robot with the Serial Slave firmware, and exposes and API. This is a fork of cstyles m3pi library.
Dependents: configure_btbee m3pi_btTest Test_SlowDown TurnAround ... more
Fork of
m3pi
by 
Chris Styles
Revision 11:7bfb33432791, committed 2013-05-17
- Comitter:
- ngoldin
- Date:
- Fri May 17 14:04:12 2013 +0000
- Parent:
- 10:f89d2a3a9ed2
- Child:
- 12:78fd82b3fb09
- Commit message:
- slowstop
Changed in this revision
| m3pi_ng.cpp | Show annotated file Show diff for this revision Revisions of this file |
| m3pi_ng.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/m3pi_ng.cpp Tue May 14 11:05:33 2013 +0000
+++ b/m3pi_ng.cpp Fri May 17 14:04:12 2013 +0000
@@ -73,6 +73,19 @@
}
}
+void m3pi::slowstop (float speed, float waittime, int steps) {
+ for (int i=2; i<steps ; i++)
+ {
+ float slowed;
+ slowed=speed*float(steps-i)/float(steps);
+ motor(0,slowed);
+ motor(1,slowed);
+ wait(waittime);
+ }
+ motor(0,0);
+ motor(1,0);
+}
+
void m3pi::reset () {
_nrst = 0;
wait (0.01);
--- a/m3pi_ng.h Tue May 14 11:05:33 2013 +0000
+++ b/m3pi_ng.h Fri May 17 14:04:12 2013 +0000
@@ -119,6 +119,8 @@
*/
void calibrated_sensor (int *);
+ void slowstop (float speed, float waittime, int steps);
+
/** Play music using the buzzer
*/
void playtune (char* text, int length);
