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#define RotateMotorExPID |
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_ports, |
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_pwr, |
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_angle, |
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_turnpct, |
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_bSync, |
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_bStop, |
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_p, |
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_i, |
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_d |
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__RotateMotorExPID(_ports, _pwr, _angle, _turnpct, _bSync, _bStop, _p, _i, _d) |
Rotate motor.
Run the specified outputs forward for the specified number of degrees. Specify proportional, integral, and derivative factors.
- Parameters:
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| _ports | Desired output ports. Can be a constant or a variable, see Output port constants. If you use a variable and want to control multiple outputs in a single call you need to use a byte array rather than a byte and store the output port values in the byte array before passing it into this function. |
| _pwr | Output power, 0 to 100. Can be negative to reverse direction. |
| _angle | Angle limit, in degree. Can be negative to reverse direction. |
| _turnpct | Turn ratio, -100 to 100. The direction of your vehicle will depend on its construction. |
| _bSync | Synchronise two motors. Should be set to true if a non-zero turn percent is specified or no turning will occur. |
| _bStop | Specify whether the motor(s) should brake at the end of the rotation. |
| _p | Proportional factor used by the firmware's PID motor control algorithm. See PID constants. |
| _i | Integral factor used by the firmware's PID motor control algorithm. See PID constants. |
| _d | Derivative factor used by the firmware's PID motor control algorithm. See PID constants. |
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