microBlocks libraries to run the wheels on the XRP robot kit.

Contents

Contains the following microBlocks libraries (with links to the documentation on the microBlocks wiki):

• PID.ubl: PID (proportional, integral, derivitive) controllers.
• DC Motors.ubl: control DC motors that have incremental encoders.
• XRP.ubl: control the WPI XRP robot kit.

ROSMO

Control the rosmo robot. The non-wheel-related code was originally written by Steve Spaeth.

The wheels have a diameter of 43 mm and are separated by 85mm
There are 7 encoder counts per revolution of the wheel
Distance of traveled for one revolution of the wheels: 133 mm
Distance traveled for one encoder tick: 19mm