Definition:

#include <aMotion.tea>




void aMotion_SetRampVelocity(

int v0, int v1);

Parameters:

v0	-	Velocity for motor 0.
v1	-	Velocity for motor 0.

Return Value:

This routine does not return a value.

Description:

This is a convenience function for robots that use two-wheel differential drive.  A single call can be used to set the velocity of both motors.  This function should only be used when both motors are configured for a velocity control mode and both motors are configured for velocity damping.  Velocity damping permits smooth transitions between an old velocity setting and a new velocity setting.

Example:

#include <aMotion.tea>

aMotion_SetRampVelocity(40,40);


This would set the velocity of both motors to 40.  The velocities would ramp from the previous settings to the new setting and the robot would start going straight.

#include <aMotion.tea>

aMotion_SetRampVelocity(40,-40);


This would set the velocity of one motor to 40 and the other to -40.  The velocities would ramp from the previous settings to the new settings and the robot would start to spin.

Related:

aMotion_GetFlags, aMotion_GetMode, aMotion_GetParameter, aMotion_RampVelSteer, aMotion_SetMode, aMotion_SetVelocity, aMotion_VelSteer