PC Factory Makeblock mRanger Manual De Usuario página 18

}
else if(direction == 4){
Encoder_1.move(degrees,(float)speed_temp);
Encoder_2.move(degrees,(float)speed_temp);
}
}
void
setup(){
TCCR1A = _BV(WGM10);
TCCR1B = _BV(CS11) | _BV(WGM12);
TCCR2A = _BV(WGM21) | _BV(WGM20);
TCCR2B = _BV(CS21);
attachInterrupt(Encoder_1.getIntNum(), isr_process_encoder1,
RISING);
attachInterrupt(Encoder_2.getIntNum(), isr_process_encoder2,
RISING);
Encoder_1.setPulse(9);
Encoder_1.setRatio(39.267);
Encoder_1.setPosPid(1.8,0,1.2);
Encoder_1.setSpeedPid(0.18,0,0);
Encoder_2.setPulse(9);
Encoder_2.setRatio(39.267);
Encoder_2.setPosPid(1.8,0,1.2);
Encoder_2.setSpeedPid(0.18,0,0);
}
void
loop(){
moveDegrees(1,1000,100);
}
//Avanza 1000 grados a 100RPM
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