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Get Wheel Information 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

Returns information, such as wheel radius and gear ratio, for the wheel you specify. You must manually select the polymorphic instance to use.

Details  

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

Get General Wheel Information

wheel in 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.
wheel out contains a reference to the wheel. You can wire this output to other Steering VIs.
wheel parameters is a cluster that contains the following elements.
wheel radius contains the radius of the wheel.
gear ratio contains the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction contains 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 contains the identifier for the wheel.
error out contains error information. This output provides standard error out functionality.
motor communication contains a reference to a communication session with the motor that controls the rotation of the wheel. You can wire this output to other Steering VIs.

Get Fixed Wheel Information

wheel in 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.
wheel out contains a reference to the wheel. You can wire this output to other Steering VIs.
wheel parameters is a cluster that contains the following elements.
wheel radius contains the radius of the wheel.
gear ratio contains the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction contains 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 contains the identifier for the wheel.
error out contains error information. This output provides standard error out functionality.
motor communication contains a reference to a communication session with the motor that controls the rotation of the wheel. You can wire this output to other Steering VIs.

Get Steering Wheel Information

wheel in 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.
steering parameters is a cluster that contains the following cluster elements.
steering gear ratio contains 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.
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 out contains a reference to the wheel. You can wire this output to other Steering VIs.
wheel parameters is a cluster that contains the following elements.
wheel radius contains the radius of the wheel.
gear ratio contains the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction contains 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 contains the identifier for the wheel.
error out contains error information. This output provides standard error out functionality.
motor communication contains a reference to a communication session with the motor that controls the rotation of the wheel. You can wire this output to other Steering VIs.
steering motor communication contains a reference to the communication session with the motor that controls the steering angle of the wheel. You can wire this output to other Steering VIs.

Get Caster Wheel Information

wheel in 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.
caster parameters is a cluster that contains the following cluster elements.
forward offset contains the distance between the center of the wheel and the center point attached to the steering frame.
caster gear ratio contains the ratio of motor velocity to wheel velocity in the caster steering angle.
wheel out contains a reference to the wheel. You can wire this output to other Steering VIs.
wheel parameters is a cluster that contains the following elements.
wheel radius contains the radius of the wheel.
gear ratio contains the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction contains 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 contains the identifier for the wheel.
error out contains error information. This output provides standard error out functionality.
motor communication contains a reference to a communication session with the motor that controls the rotation of the wheel. You can wire this output to other Steering VIs.
caster motor communication contains a reference to the communication session with the motor that controls the caster angle of the wheel. You can wire this output to other Steering VIs.

Get Mecanum Wheel Information

wheel in 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.
roller orientation contains 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 the rollers that meet the ground surface angle 45 degrees from the wheel shaft in the clockwise direction.
wheel out contains a reference to the wheel. You can wire this output to other Steering VIs.
wheel parameters is a cluster that contains the following elements.
wheel radius contains the radius of the wheel.
gear ratio contains the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction contains 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 contains the identifier for the wheel.
error out contains error information. This output provides standard error out functionality.
motor communication contains a reference to a communication session with the motor that controls the rotation of the wheel. You can wire this output to other Steering VIs.

Get Omnidirectional Wheel Information

wheel in 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.
wheel out contains a reference to the wheel. You can wire this output to other Steering VIs.
wheel parameters is a cluster that contains the following elements.
wheel radius contains the radius of the wheel.
gear ratio contains the ratio of motor velocity to wheel velocity in the forward direction.
forward rotation direction contains 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 contains the identifier for the wheel.
error out contains error information. This output provides standard error out functionality.
motor communication contains a reference to a communication session with the motor that controls the rotation of the wheel. You can wire this output to other Steering VIs.

Get Wheel Information Details

If you wire a type of wheel to the wheel in input of a polymorphic instance for a different wheel type, LabVIEW returns a warning and returns default values for any outputs that do not apply to the input wheel. For example, if you wire a fixed wheel to the Steering instance of this VI, LabVIEW returns default values for the cluster elements of the steering parameters output.


 

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