> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/drrobot/jaguar-v4-lv-dai-che-ji-qi-ren-shi-yong-shou-ce/6.-gpsimu-gan-ce-mo-zu-ji-hu-wai-zi-zhu-dao-hang-cheng-shi/6.2.-jaguar-hu-wai-zi-zhu-dao-hang-cheng-shi/6.2.4.-chu-shi-hua-dcm-yan-suan-fa.md).

# 6.2.4. 初始化 DCM 演算法

在 form load 表單加載事件中，你需要初始化 DCM 演算法。

```
// set Encoder parameter
SetEncoderParameter(MOTDIR, WHEEL_CNT, WHEEL_R, WHEELDIS);
// set driving  parramter  
SetDrvParameter(dis2TargetTH, dis2PathTH, drvAngleTH);
// set some parameters 
SetGPSPositionUpdateParameter(0.5, 2.0); //2.0
```