Piloter les moteurs
La bibliothèque NXShield permet de contrôler finement le comportement de blocs moteurs LEGO (jusqu’à 4 moteurs).
/*********************************************************************** LEGO-NXshield Pilotage des moteurs *********************************************************************** */ #include <Wire.h> #include <NXShield.h> NXShield nxshield; void setup() { long rotations = 2; nxshield.init( SH_HardwareI2C ); nxshield.bank_a.motorReset(); nxshield.bank_b.motorReset(); nxshield.bank_a.motorRunRotations(SH_Motor_1, SH_Direction_Forward, // avant SH_Speed_Medium, rotations, SH_Completion_Wait_For, // mode synchrone SH_Next_Action_BrakeHold); nxshield.bank_a.motorRunRotations(SH_Motor_1, SH_Direction_Reverse, // arrière 20, rotations, SH_Completion_Dont_Wait , // mode asynchrone SH_Next_Action_BrakeHold); nxshield.bank_b.motorRunRotations(SH_Motor_1, SH_Direction_Forward, 80, rotations, SH_Completion_Wait_For, SH_Next_Action_BrakeHold); nxshield.bank_b.motorRunRotations(SH_Motor_1, SH_Direction_Reverse, 100, rotations, SH_Completion_Wait_For, SH_Next_Action_BrakeHold); } void loop() { }
Plus de détails : méthode .motorRunRotations