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Returns

This function does not return a value once it has completed its tasks.

Main prototype and parameters

static void Crc::CrcLib::MoveHolonomic(int8_t forwardChannel, int8_t yawChannel, int8_t strafeChannel, unsigned char frontLeftMotor, unsigned char backLeftMotor, unsigned char frontRightMotor, unsigned char backRightMotor)

The following parameters must be passed to the function for it to work properly:

• forwardChannel: The speed value used to control the forward/backward motion. Must be of the type int8_t (also called signed char), so ranging [-128, 127].

• yawChannel: The speed value used to control left/right motion. Must be of the type int8_t (also called signed char), so ranging [-128, 127].

• strafeChannel: The speed value used to control the rotative motion. Must be of the type int8_t (also called signed char), so ranging [-128, 127].

• frontLeftMotor: The name of the PWM pin to wich is connected the front left motor. Must be of the type unsigned char.

• backLeftMotor:The name of the PWM pin to wich is connected the back left motor. Must be of the type unsigned char.

• frontRightMotor: The name of the PWM pin to wich is connected the front right motor. Must be of the type unsigned char.

• backLeftMotor:The name of the PWM pin to wich is connected the back right motor. Must be of the type unsigned char.

Overloads

#1: Directly using remote controller joystick values

static void Crc::CrcLib::MoveHolonomic(ANALOG forwardChannel, ANALOG yawChannel, ANALOG strafeChannel, unsigned char frontLeftMotor, unsigned char backLeftMotor, unsigned char frontRightMotor, unsigned char backRightMotor)

The following parameters must be passed to the function for it to work properly:

• forwardChannel: The speed value used to control the forward motion. Must be of the type ANALOG.

• yawChannel: The speed value used to control left/right motion. Must be of the type ANALOG.

• strafeChannel: The speed value used to control rotative motion. Must be of the type ANALOG.

• frontLeftMotor: The name of the PWM pin to wich is connected the front left motor. Must be of the type unsigned char.

• backLeftMotor:The name of the PWM pin to wich is connected the back left motor. Must be of the type unsigned char.

• frontRightMotor: The name of the PWM pin to wich is connected the front right motor. Must be of the type unsigned char.

• backRightMotor:The name of the PWM pin to wich is connected the back right motor. Must be of the type unsigned char.

Examples

#include <CrcLib.h>

using namespace Crc;

void setup() {
    CrcLib::Initialize();

    CrcLib::InitializePwmOutput(CRC_PWM_1);
    CrcLib::InitializePwmOutput(CRC_PWM_2);
    CrcLib::InitializePwmOutput(CRC_PWM_3);
    CrcLib::InitializePwmOutput(CRC_PWM_4);
    
    /* 
    The rest of your setup code
    ...
     */
}
void loop() {
    CrcLib::Update();

    CrcLib::MoveHolonomic(ANALOG::JOYSTICK1_Y, ANALOG::JOYSTICK1_X, ANALOG::JOYSTICK2_X, CRC_PWM_1, CRC_PWM_2, CRC_PWM_3, CRC_PWM_4);
    
    /* 
    The rest of your looping code
    ...
    */
}

More on this function

There is sadly nothing more to be said about this function…

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