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Write DC Motor Velocity Setpoints VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Requires: LabVIEW Robotics Starter Kit

Owning Palette: Starter Kit 1.0 VIs, Starter Kit 2.0 VIs

Applies velocity values to the drive motors on the Starter Kit robot. The left and right motors are defined by their positions as you view the robot from behind. The maximum motor velocity is 15.7 rad/s.

Use this VI with the Steering VIs to convert between the overall steering frame velocity and individual motor velocities and to implement other steering behavior for a Starter Kit robot.

Details  Examples

starter kit host in is a reference to the communication session between the host VI and the FPGA on the robot. Use the Starter Kit initialization VI that is appropriate for your application to generate this LabVIEW class object.
left motor ccw velocity (rad/s) specifies the velocity, in radians per second, at which you want the left motor to move. If you specify a value greater than the maximum velocity of 15.7 rad/s, the motor moves at the maximum velocity. The velocity you specify turns the left-side wheels in the counterclockwise direction when you view the wheels from on end. Thus, positive values move the robot forward, and negative values move the robot backward.
right motor ccw velocity (rad/s) specifies the velocity, in radians per second, at which the right motor moves. If you specify a value greater than the maximum velocity of 15.7 rad/s, the motor moves at the maximum velocity. The velocity you specify turns the right-side wheels in the counterclockwise direction when you view the wheels from on end. Thus, negative values move the robot forward, and positive values move the robot backward.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
starter kit host out is a reference to the communication session between the host VI and the FPGA on the robot. You can wire this output to other Starter Kit VIs.
error out contains error information. This output provides standard error out functionality.

Write DC Motor Velocity Setpoints Details

The maximum motor velocity of 15.7 rad/s corresponds to a maximum forward robot velocity of about 0.39 m/s for the Starter Kit 1.0 robot and about 0.79 m/s for the Starter Kit 2.0 robot. Use caution to avoid collisions between the robot and other objects.

Examples

Refer to the following VIs for examples of using the Write DC Motor Velocity Setpoints VI:

  • labview\examples\robotics\Starter Kit 1.0\Starter Kit 1.0.lvproj
  • labview\examples\robotics\Starter Kit 2.0\Starter Kit 2.0.lvproj

 

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