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Add Wheels to Steering Frame VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Advanced VIs

Requires: Robotics Module

Adds the wheel or wheels you specify to steering frame in. You must manually select the polymorphic instance to use.

Details  

Use the pull-down menu to select an instance of this VI.

Add Single Wheel to Steering Frame

x position specifies the x-coordinate of the wheel with respect to the center of the steering frame. A negative value represents a position to the left of the center, and a positive value represents a position to the right of the center.
y position specifies the y-coordinate of the wheel with respect to the center of the steering frame. A negative value represents a position to the rear of the center, and a positive value represents a position to the front of the center.
steering frame in is a reference to the steering frame on which to operate. Use the Create Steering Frame VI to generate this LabVIEW class object.
wheel is a reference to a steering frame wheel. Use the Create Wheel VI to generate this LabVIEW class object.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
frame angle (rad) specifies the angle of the wheel frame, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above. A frame angle of 0 is parallel to the direction of forward travel of the steering frame.
steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Add Multiple Wheels to Steering Frame

x positions specifies the x-coordinates of the wheels with respect to the center of the steering frame. Negative values represent positions to the left of the center, and positive values represent positions to the right of the center.
y positions specifies the y-coordinates of the wheels with respect to the center of the steering frame. Negative values represent positions to the rear of the center, and positive values represent positions to the front of the center.
steering frame in is a reference to the steering frame on which to operate. Use the Create Steering Frame VI to generate this LabVIEW class object.
wheels contains an array of references to steering frame wheels. Use the Create Wheel VI to generate these LabVIEW class objects.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
frame angles (rad) specifies the angles of the wheel frames, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above. A frame angle of 0 is parallel to the direction of forward travel of the steering frame.
steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Add Wheels to Steering Frame Details

When you use the Steering VIs to create and operate on a steering frame and wheels, always use a consistent unit of measurement when you specify values that represent distance.


 

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