Motor Commands??

[benjammin105]

I just got my new axon in and my first robot is coming together and nicely so far. I just ordered the sabertooth 2X5 motor controller and it should be in next week. I'm still a rookie at all of this and was wondering how I would go about giving this motor driver commands in the C language. I mean I wanna make it drive for certain distances and turn and that kind of stuff. I'm reading thru the tutorial information and didn't see anything explaining this kind of thing. Thanks!

[Admin]

If you are using WebbotLib, just look up the sabertooth commands in the manual.

For the older Axon code, do this:
http://www.societyofrobots.com/axon/axon_function_list.shtml#misc

then delay for a bit:
http://www.societyofrobots.com/axon/axon_function_list.shtml#timers

then do a different motor command.

[benjammin105]

I wasn't using that library but I am now! I downloaded the manual and printed it and put it in a binder. This will get me thru most of my questions.Thanks!

[benjammin105]

Another quick question...I'm looking for a way to make my robot drive for a specific amount of time before stopping and doing other actions. Would I be able to do this by using the act_setspeed command and then using delays until it has traveled the distance I need? I'm also wondering if the delays would make it stop as opposed to driving for the selected time.

[Webbot]

The motors continue to work in the background. So 'yes' you could use a delay and make WebbotLib work.

However: for program design this isn't good design.

For example: what would happen if the robot hit something during that time. Perhaps it would reverse for a few seconds. Ok - but what if it hit something whilst reversing?

You really need to think about a state machine. Sounds complex - but need not be.

[Admin]

If you consider yourself a beginner, just work with a delay for now until you get the hang of things and the basics working.

A more fancy way to do it would be:

while(nothing_in_the_way)
   {drive_forward()}
rotate_90_degrees();//if something in the way, it turns