gnssDRWheelTickPushSpeed (Function)

This pushes speed data to the GNSS module.

The GNSS module must have been configured to use SW speed with gnssDRWheelTickSetup.

Compatibility: RTCU NX-200 DR only.

Input:

speed: DINT (Default 0)

The forwards speed in m/s. For backwards speed, use negative values.

The speed is scaled by 1000. (A speed of 1 m/s will be given as 1000)

Returns:

Declaration:

FUNCTION gnssDRWheelTickPushSpeed : INT;
VAR_INPUT
   speed     : DINT;
END_VAR;

Example:

INCLUDE rtcu.inc
 
PROGRAM test;
 
BEGIN
   ...
   // Set speed to 14 m/s
   gnssDRWheelTickPushSpeed(speed := 14);
      ...
   END_IF;
   ...
END;
 
END_PROGRAM;