Kh2ProgrammingManual.pdf

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1、2KheperaProgrammingManualPreliminaryVersion0.2June2002DocumentationAuthorPierreBureauforK-TeamS.A.Ch.deVuasset,CP1111028PreverengesSwitzerlandemail:info@k-team.comUrl:www.k-team.comCopyrightc2002K-TeamSA.Permissionisgrantedtocopy,distributeand/ormodifyth

2、isdocumentunderthetermsoftheGNUFreeDocumentationLicense,Version1.1oranylaterver-sionpublishedbytheFreeSoftwareFoundation;withtheInvari-antSectionsbeing"GNUFreeDocumentationLicense",withFront-CoverTextsbeing"Khepera2ProgrammingManual",andwithnoBack-CoverTe

3、xts.AcopyofthelicenseisincludedinthesectionentitledGNUFreeDocumentationLicense".K-TeamS.A.1TableOfContents1Introduction41.1GNUFreeDocumentationLicense...............51.2ApplicabilityandDenitions..................51.3VerbatimCopying......................

4、..61.4CopyinginQuantity.......................71.5Modications...........................71.6CombiningDocuments......................91.7CollectionsofDocuments....................101.8AggregationWithIndependentWorks.............101.9Translation...........

5、.................111.10Termination............................111.11FutureRevisionsofThisLicense................112ProgrammingBasics122.1MultitaskEnvironment.....................132.1.1TaskGeneralOrganization...............132.1.2TaskManagement...........

6、.........142.1.3ProcessInformation...................212.1.4CriticalResources....................222.1.5TaskCommunication...................252.2MotorControl..........................262.2.1UsingSpeedControl...................262.2.2UsingPositionControl..

7、................302.2.3PIDtuning........................362.2.4NewControllerImplementation.............362.2.5MiscellaneousFunctions.................372.3SensorInteraction........................382.3.1ReadingAmbientLight.................382.3.2ReadingRe

8、ectedLight.................392.3.3FilteringIRSensors...................402.3.4UsingAdditionalSensors................422.4CommunicationChannels....................432.4.1SerialCommunication..................432.4.2Tu