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Update Motor State VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: Motor Communication VIs

Requires: Robotics Module

Writes angle or angular velocity values of the motor or motors to the motor communication session. You must manually select the polymorphic instance to use.

Use the Get Motor Setpoint VI to return motor setpoints you can pass to this VI.

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

Update Motor Angle State

motor communication in is a reference to the communication session between a motor and the wheel the motor controls. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
angle specifies the angle, in radians, of the motor shaft. You can use the Apply Velocity to Motors VI to calculate this value.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication out is a reference to the communication session between a motor and the wheel the motor controls. You can wire this output to other Motor Communication VIs.
failed? is TRUE if this VI cannot update the motor state, for example, because the motor communication session is not initialized properly.
error out contains error information. This output provides standard error out functionality.

Update Motor Angle States

motor communication in is an array of references to communication sessions between motors and the wheels the motors control. Use the Initialize Motor Communication VI to generate these LabVIEW class objects.
angles specifies the angles, in radians, of the motor shafts. You can use the Apply Velocity to Motors VI to calculate these values.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication out is an array of references to communication sessions between motors and the wheels the motors control. You can wire this output to other Motor Communication VIs.
failed? is TRUE for a motor if this VI cannot update the motor state, for example, because the motor communication session is not initialized properly.
error out contains error information. This output provides standard error out functionality.

Update Motor Velocity State

motor communication in is a reference to the communication session between a motor and the wheel the motor controls. Use the Initialize Motor Communication VI to generate this LabVIEW class object.
velocity specifies the rate, in radians per second, at which the motor shaft rotates in the counterclockwise direction. You can use the Apply Velocity to Motors VI to calculate this value.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication out is a reference to the communication session between a motor and the wheel the motor controls. You can wire this output to other Motor Communication VIs.
failed? is TRUE if this VI cannot update the motor state, for example, because the motor communication session is not initialized properly.
error out contains error information. This output provides standard error out functionality.

Update Motor Velocity States

motor communication in is an array of references to communication sessions between motors and the wheels the motors control. Use the Initialize Motor Communication VI to generate these LabVIEW class objects.
velocities specifies the rates, in radians per second, at which the motor shafts rotate in the counterclockwise direction. You can use the Apply Velocity to Motors VI to calculate these values.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
motor communication out is an array of references to communication sessions between motors and the wheels the motors control. You can wire this output to other Motor Communication VIs.
failed? is TRUE for a motor if this VI cannot update the motor state, for example, because the motor communication session is not initialized properly.
error out contains error information. This output provides standard error out functionality.

 

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