Puck and I just completed a significant phase of Rover testing.
Working with the Rover
The attached library has some high level functions that the previous one does not have. These functions essentially isolate the main program from requiring any knowledge of how the motors work.
The added functions are:
- Rover_Go which has parameters of: Direction, Speed and Distance. All four motors turn identically.
- Rover_Static_Turn which has parameters of: Degrees of Rotation (+/- 180) and speed.
- Rover_Stop which has one parameter: stop immediately or wait until all motors are no longer being driven and then stop.
The stop function actually drives the motor(s) in the opposite direction for two pulses. Without this action the Rover will drift for about an inch.