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Get Motor Setpoint VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Motor Communication VIs

Requires: Robotics Module

Returns the angles or angular velocity setpoints from the motor communication session. You must manually select the polymorphic instance to use.

Use the Update Motor State VI to apply the setpoints this VI returns to the motor or motors in the communication session.

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

Get Motor Angle Setpoint

motor communication in is a reference to the communication session between a motor and the wheel the motor controls. Use the Initialize Motor Communication 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.
motor communication out is a reference to the communication session between a motor and the wheel the motor controls. You can wire this output to other Motor Communication VIs.
angle returns the angle, in radians, of the motor shaft.
failed? is TRUE if this VI cannot calculate the motor setpoint, for example, because the value is undefined.
error out contains error information. This output provides standard error out functionality.

Get Motor Angle Setpoints

motor communication in is an array of references to communication sessions between motors and the wheels the motors control. Use the Initialize Motor Communication 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.
motor communication out is an array of references to communication sessions between motors and the wheels the motors control. You can wire this output to other Motor Communication VIs.
angles returns the angles, in radians, of the motor shafts.
failed? is TRUE for a motor if this VI cannot calculate the motor setpoint, for example, because the value is undefined.
error out contains error information. This output provides standard error out functionality.

Get Motor Velocity Setpoint

motor communication in is a reference to the communication session between a motor and the wheel the motor controls. Use the Initialize Motor Communication 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.
motor communication out is a reference to the communication session between a motor and the wheel the motor controls. You can wire this output to other Motor Communication VIs.
velocity returns the rate, in radians per second, at which the motor shaft rotates in the counterclockwise direction.
failed? is TRUE if this VI cannot calculate the motor setpoint, for example, because the value is undefined.
error out contains error information. This output provides standard error out functionality.

Get Motor Velocity Setpoints

motor communication in is an array of references to communication sessions between motors and the wheels the motors control. Use the Initialize Motor Communication 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.
motor communication out is an array of references to communication sessions between motors and the wheels the motors control. You can wire this output to other Motor Communication VIs.
velocities returns the rates, in radians per second, at which the motor shafts rotate in the counterclockwise direction.
failed? is TRUE for a motor if this VI cannot calculate the motor setpoint, for example, because the value is undefined.
error out contains error information. This output provides standard error out functionality.

 

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