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Steering VIs

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Robotics VIs

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

Use the Steering VIs to create a mobile robotics system that consists of a built-in or user-defined steering frame and wheels. You can calculate and convert between robot and wheel velocity and connect with motors that drive wheels to implement motor control.

Examples

Note  When you use the Steering VIs to create and operate on a steering frame, you specify the radius of wheels, the distance of separation between wheels, and so on. Always use a consistent unit of measurement when you specify values that represent distance.
Palette ObjectDescription
Apply Velocity to MotorsCalculates the velocity and angle of each motor necessary to satisfy the steering frame velocity or arc velocity at the center of a steering frame. You must manually select the polymorphic instance to use.
Apply Velocity to WheelsCalculates the state of each wheel necessary to satisfy the steering frame velocity or arc velocity at the center of the steering frame. You must manually select the polymorphic instance to use.
Configure Steering FrameGenerates a wheeled steering frame that you design in an interactive dialog box. You can choose from pre-defined steering frame designs or create a custom frame design.
Draw Steering Frame PictureCreates an image you can wire to a 2D picture control to visualize a steering frame on the front panel. The picture can display data about the directions and velocities at which wheels move.
Get Velocity from MotorsCalculates the steering frame velocity or arc velocity required to best satisfy the velocity and angle of each motor. You must manually select the polymorphic instance to use.
Get Velocity from WheelsCalculates the steering frame velocity or arc velocity required to best satisfy the state of each wheel. You can read data for each wheel from wheel motors or specify the wheel data manually. You must manually select the polymorphic instance to use.


SubpaletteDescription
Advanced VIsUse the Advanced VIs to add wheels to a steering frame, replace a wheel with another wheel, return information about wheels, and so on.
Motor Communication VIsUse the Motor Communication VIs to connect robot vehicle wheels to motors that control wheel angle and velocity. When you initiate a communication session between a wheel and the motor that controls the wheel, you can read and write motor data according to the position of the wheel as it moves.

Examples

Refer to the following VIs for examples of using the Steering VIs:

  • labview\examples\robotics\Steering\3D Mecanum Robot\3D Mecanum Robot.lvproj
  • labview\examples\robotics\Steering\Differential Steering\Differential Steering.lvproj
  • labview\examples\robotics\Steering\Mecanum Steering\Mecanum Steering.lvproj

 

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