PID, motor and const declaration...

Jesspepette · Wed Mar 07, 2007 5:32 pm

Hi
I just registered my robotC this morning!!

Very interesting language !!
Firstly, i'm french so apologize for my english writing

Regarding this program written below, NXT motor synchronisation, that I found in the sample programs from your website:

1) I assume that you use the PID closed loop but why didn't you use this declaration at the beginning ? :


	Code: nMotorPIDSpeedCtrl[motorA] = mtrSpeedReg;

And then if motor C ISN'T slaved to motor A, do we still have to write these two lines? :


	Code: nMotorPIDSpeedCtrl[motorA] = mtrSpeedReg; nMotorPIDSpeedCtrl[motorC] = mtrSpeedReg;

2) Why RobotC wizard generate this line? :


	Code: const tMotor kPrimaryMotor = (tMotor) motorA;

Why this cast operator doesnt appear below on your example ? I don't think it's important but ??

3) Why did you use 10 ms in this line? :


	Code: nPidUpdateInterval = 10;

Is this a good setting ?

4) And the last one;) Does the nMax RegulatedSpeed variable apply to all the declared motor in the program ?
Or do we have to set it for each motor connected even it have the same value ?

Thanks for your help!

Your NXT motor synchronisation sample program:


	Code: task main() { int nMoveSize = 360; int nSpeed = 35; int nDelay = 2000; int nTurnRatio = 50; const TSynchedMotors kSyncType = synchAC; const tMotor kPrimaryMotor = motorA; bFloatDuringInactiveMotorPWM = false; nMotorEncoder[kPrimaryMotor] = 0; nMotorEncoderTarget[kPrimaryMotor] = 0; nSyncedMotors = kSyncType; // "C" will be synchronized to "A". nSyncedTurnRatio = nTurnRatio; nPidUpdateInterval = 10; while (true) { nMotorEncoderTarget[kPrimaryMotor] = nMoveSize; motor[kPrimaryMotor] = nSpeed; wait1Msec(nDelay); nSyncedMotors = synchCA; nSyncedTurnRatio = nTurnRatio; nMotorEncoderTarget[motorC] = nMoveSize; motor[motorC] = nSpeed; wait1Msec(nDelay); nSyncedMotors = kSyncType; nSyncedTurnRatio = nTurnRatio; } }

PID, motor and const declaration...

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