Class CrawlerSteering - GSTCH/SketchMadeEASY GitHub Wiki

Relation CrawlerSteering

Topic	Specification
Description	Sketch Made EASY combines inputs with actuators through logic. This class contains the logic to steering a tracked vehicle. This requires two joystick axis (as input) and two motors (left and right side as output). With a condition it's possible to enable or disable the logic. Movement of the motors depending on the joystick position. The red area is the normal drive, the green is the pivot turn. The area width of the pivot turn is a parameter of the constructor. This also defines a 0-area.
Constructor	CrawlerSteering(Condition* Condition, Actuator* ActuatorLeft, Actuator* ActuatorRight, Input* AxisX, Input* AxisY, int PivotWidth) Parameter Condition: Condition when the relation is active ActuatorLeft: Left motor ActuatorRight: Right motor AxisX: Joystick X-Axis AxisY: Joystick Y-Axis PivotWidth: PivotRange/2
Samples	JoystickAxis* xAxis = new JoystickAxis(A0, false); JoystickAxis* yAxis = new JoystickAxis(A1, false ); MotorI2C* motorLeft = new MotorI2C(1); MotorI2C* motorRight = new MotorI2C(2); CrawlerSteering* crawlerSteering = new CrawlerSteering(NULL, motorLeft, motorRight, xAxis, yAxis, 20);
Examples	Look test "80-CrawlerSteering"

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