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Starter Kit 2.0 VIs

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Starter Kit VIs

Requires: LabVIEW Robotics Starter Kit. This topic might not match its corresponding palette in LabVIEW depending on your operating system, licensed product(s), and target.

Use the Starter Kit 2.0 VIs to control the Robotics Starter Kit 2.0 robot, which is a three-wheeled mobile robot that contains an NI sbRIO-9632 controller, drive motors, and a Parallax PING))) ultrasonic distance sensor.

Example

Note  You must configure the sbRIO-9632 chassis to use the LabVIEW FPGA Interface programming mode or the Starter Kit VIs do not run on the sbRIO.
Palette ObjectDescription
Create Starter Kit 2.0 Steering FrameGenerates a steering frame object for the Starter Kit 2.0 robot. You can use the steering frame object with the Steering VIs to implement steering for the Starter Kit robot.
Initialize Simulated Starter Kit 2.0Begins a communication session for a simulated Starter Kit 2.0 robot.
Initialize Starter Kit 2.0 (sbRIO-9632)Begins a communication session with the FPGA on the robot you want to control and returns a reference you use to read from or write to the FPGA. You must call this VI before you access I/O on the FPGA.

The Starter Kit 2.0 palette also includes the following VIs that appear on both this palette and the Starter Kit 1.0 palette.

Palette ObjectDescription
Close Starter KitTerminates a communication session with the FPGA on a real or simulated Starter Kit robot. When the communication session ends, the drive motors, distance sensor, and sensor servo stop operating.
Read DC Motor VelocitiesReads and returns the velocities of the left and right drive motors on the Starter Kit robot in the counterclockwise direction. The left and right motors are defined by their positions as you view the robot from behind.
Read PING))) Sensor DistanceReads and returns the distance between the PING))) ultrasonic distance sensor and the nearest obstacle the sensor detects. The PING))) sensor has a maximum detection range of three meters.
Read Sensor Servo OffsetReads and returns the amount by which the zero, or straight-forward, position of the ultrasonic distance sensor is calibrated to differ from the zero position of the sensor servo.
Write DC Motor Velocity SetpointsApplies 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.
Write Sensor Servo AngleWrites an angle to the servo on which the distance sensor is mounted to turn the servo to that angle. Note that the servo angle is different from the sensor angle if the servo and the sensor are not aligned.
Write Sensor Servo OffsetDefines the amount by which the zero, or straight-forward, position of the distance sensor differs from the zero position of the sensor servo on which the sensor is mounted. You can use this VI to save the offset value to a file so the value is associated with the same robot in the future.


SubpaletteDescription
Direct Input and Output VIsUse the Direct Input and Output VIs to read or write values to I/O resources connected to the FPGA on the Starter Kit robot. These VIs allow you to communicate with additional I/O resources on the FPGA without writing or compiling an FPGA VI.

Example

Refer to the Starter Kit 2.0.lvproj in the labview\examples\robotics\Starter Kit 2.0 directory for an example of using the Starter Kit 2.0 VIs.


 

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