Manual

ival = SetMotorPolarity5 (short polarity); // Motor #5

ival = SetMotorPolarity6 (short polarity); // Motor #6

ival = SetMotorPolarity (short channel, short polarity);

// motor#1, 2, 3, 4, 5, or 6

Parameter: short polarity; //1 or -1

short channel; // 0, 1, 2, 3, 4, or 5 for Sonar #1, 2, 3, 4, 5, 6

Return value: void ival;

82 void EnableDcMotor (short channel);

83 void DisableDcMotor ( short channel);

Description:

These functions are obsolete. Please see function ResumeDcMotor(short channel) and

SuspendDcMotor(short channel).

84 void ResumeDcMotor (short channel);

85 void SuspendDcMotor (short channel);

Description:

ResumeDcMotor resumes the specified DC motor control channel.

SuspendDcMotor suspends the specified DC motor control channel. PWM output is all low.

Syntax: ResumeDcMotor (channel);

SuspendDcMotor (channel);

Parameter: short channel; // 0, 1, 2, 3, 4, or 5

Return value: void

Remarks:

1. All motor control channels are initially suspended when the system boot-up.

86 void SetDcMotorPositionControlPID (short channel, short Kp, short Kd, short Ki_x100);

87 void SetDcMotorVelocityControlPID (short channel, short Kp, short Kd, short Ki_x100);

Description:

SetDcMotorPositionControlPID sets up the PID control parameters of the specified DC

motor channel for position control.

SetDcMotorVelocityControlPID sets up the PID control parameters of the specified DC

motor control channel for velocity.

Syntax: SetDcMotorPositionControlPID (channel, K

, K

_x100);

SetDcMotorVelocityControlPID (channel, K

, K

_x100);