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Reposition Wheels on 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

Changes the location of the wheel or wheels to the position and angle you specify. You must manually select the polymorphic instance to use.

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

Reposition Single Wheel in 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 index specifies the index of the wheel on which to operate, where 0 corresponds to the first wheel you added to the steering frame, 1 corresponds to the second wheel, and so on. The default is 0.

If you specify an index value greater than the number of wheels steering frame in contains, LabVIEW returns FALSE in found? for the invalid index.
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.
found? indicates whether steering frame in contains the wheel you specify.
error out contains error information. This output provides standard error out functionality.

Reposition Multiple Wheels in 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.
wheel indexes specifies the indexes of the wheels on which to operate, where 0 corresponds to the first wheel you added to the steering frame, 1 corresponds to the second wheel, and so on. If you do not specify wheel indexes, this VI returns all wheels on the steering frame.

If you specify an index value greater than the number of wheels steering frame in contains, LabVIEW returns FALSE in found? for the invalid index.
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.
found? indicates whether steering frame in contains the wheels you specify.
error out contains error information. This output provides standard error out functionality.

Reposition Single Wheel in Steering Frame by Name

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 name specifies the identifier for the wheel. If you specify a name for a wheel that steering frame in does not contain, LabVIEW returns FALSE in found? for the invalid name.
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.
found? indicates whether steering frame in contains the wheel you specify.
error out contains error information. This output provides standard error out functionality.

Reposition Multiple Wheels in Steering Frame by Name

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.
wheel names specifies the identifiers for the wheels. If you do not specify wheel names, this VI returns all wheels on the steering frame.

If you specify a name for a wheel that steering frame in does not contain, LabVIEW returns FALSE in found? for the invalid name.
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.
found? indicates whether steering frame in contains the wheels you specify.
error out contains error information. This output provides standard error out functionality.

 

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