Company Events Academic Community Support Solutions Products & Services Contact NI MyNI

Create Wheel VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

»View Product Info

Owning Palette: Advanced VIs

Requires: Robotics Module

Creates a wheel of the type you specify that you can add to a steering frame. You must manually select the polymorphic instance to use.

You also can generate a steering frame in an interactive dialog box.

Details  Examples

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

Create Fixed Wheel

wheel parameters is a cluster whose elements define the wheel.
Note  LabVIEW uses gear ratio and forward rotation direction values only if you use the motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
wheel radius specifies the radius of the wheel you create.
gear ratio specifies the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction specifies the direction in which the wheel turns when the wheel rotates forward, given an end-on view of the wheel axle.

0Clockwise (default)
1Counterclockwise
wheel name specifies the identifier for the wheel.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication specifies a communication session with the motor that controls the rotation of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
fixed wheel out contains the wheel you created. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Create Steering Wheel

Note Note  LabVIEW assumes that the steering angle of steering wheels can change instantaneously to satisfy nonslip and pure-rolling constraints.

steering parameters is a cluster whose elements define steering properties of the wheel.
Note  LabVIEW uses steering gear ratio and motor angle offset values only if you use the steering motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
steering gear ratio specifies the ratio of motor angle to wheel angle in the direction of steering.
motor angle offset (rad) is equal to the difference of the motor angle and the product of the steering gear ratio and the steering angle.
steering angle range defines possible steering angles of the wheel. This VI measures steering angles counterclockwise from the wheel frame angle as viewed from above, so angles to the left of the frame angle are positive values and angles to the right are negative values.
min steering angle (rad) is the smallest possible angle formed between the wheel axle and the frame of reference of the steering frame.
max steering angle (rad) is the largest possible angle formed between the wheel axle and the frame of reference of the steering frame.
wheel parameters is a cluster whose elements define the wheel.
Note  LabVIEW uses gear ratio and forward rotation direction values only if you use the motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
wheel radius specifies the radius of the wheel you create.
gear ratio specifies the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction specifies the direction in which the wheel turns when the wheel rotates forward, given an end-on view of the wheel axle.

0Clockwise (default)
1Counterclockwise
wheel name specifies the identifier for the wheel.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication specifies a communication session with the motor that controls the rotation of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
steering motor communication specifies a communication session with the motor that controls the steering angle of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
steering wheel out contains the wheel you created. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Create Caster Wheel

Note Note  The steering angle of a caster wheel is the location of the wheel about the pivot attached to the steering frame. Caster wheels have a forward offset from the center point but no lateral offset.

caster parameters is a cluster whose elements define caster properties of the wheel.
forward offset specifies the distance between the center of the wheel and the center point attached to the steering frame.
caster gear ratio specifies the ratio of motor velocity to wheel velocity in the caster steering angle. This VI uses caster gear ratio only if you use the caster motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
wheel parameters is a cluster whose elements define the wheel.
Note  LabVIEW uses gear ratio and forward rotation direction values only if you use the motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
wheel radius specifies the radius of the wheel you create.
gear ratio specifies the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction specifies the direction in which the wheel turns when the wheel rotates forward, given an end-on view of the wheel axle.

0Clockwise (default)
1Counterclockwise
wheel name specifies the identifier for the wheel.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication specifies a communication session with the motor that controls the rotation of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
caster motor communication specifies a communication session with the motor that controls the caster angle of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
caster wheel out contains the wheel you created. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Create Mecanum Wheel

roller orientation specifies the direction in which the Mecanum wheel rollers angle.

0Left—Specifies that rollers that meet the ground surface angle 45 degrees from the wheel shaft in the counterclockwise direction.
1Right—Specifies that rollers that meet the ground surface angle 45 degrees from the wheel shaft in the clockwise direction.
wheel parameters is a cluster whose elements define the wheel.
Note  LabVIEW uses gear ratio and forward rotation direction values only if you use the motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
wheel radius specifies the radius of the wheel you create.
gear ratio specifies the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction specifies the direction in which the wheel turns when the wheel rotates forward, given an end-on view of the wheel axle.

0Clockwise (default)
1Counterclockwise
wheel name specifies the identifier for the wheel.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication specifies a communication session with the motor that controls the rotation of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
mecanum wheel out contains the wheel you created. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Create Omnidirectional Wheel

wheel parameters is a cluster whose elements define the wheel.
Note  LabVIEW uses gear ratio and forward rotation direction values only if you use the motor communication input to connect the wheel to a motor and then communicate wheel data to the motor.
wheel radius specifies the radius of the wheel you create.
gear ratio specifies the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction specifies the direction in which the wheel turns when the wheel rotates forward, given an end-on view of the wheel axle.

0Clockwise (default)
1Counterclockwise
wheel name specifies the identifier for the wheel.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication specifies a communication session with the motor that controls the rotation of the wheel. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
omni wheel out contains the wheel you created. You can wire this output to other Steering VIs.
error out contains error information. This output provides standard error out functionality.

Create Wheel 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.

Examples

Refer to the following VIs for examples of using the Create Wheel VI:

  • labview\examples\robotics\Steering\3D Mecanum Robot\3D Mecanum Robot.lvproj
  • labview\examples\robotics\Steering\Differential Steering\Differential Steering.lvproj

 

Your Feedback! poor Poor  |  Excellent excellent   Yes No
 Document Quality? 
 Answered Your Question? 
Add Comments 1 2 3 4 5 submit