Three motors are defined, wheelL, wheelR and claw.

A group, wheels, is defined to group wheelL and wheelR :

  wheels.speed = 10;

is equivalent to

  wheelL.speed = 10 & wheelR.speed = 10; 

The attribute .speed allows you to set the current speed of the motor. This value is set between -100 and 100.

Motor position (in degrees) can be accessed using the .val attribute. This attribute is set to 0 when you turn the robot on. We have added a PID control, so you can set a position :

  claw.val = 360 ;

requests a full rotation of the claw motor. The PID parameters claw.PGain, claw.IGain, claw.DGain and claw.Precision can be set to change the PID behavior.