Difference between revisions of "Robotino myRIO Toolkit"
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Initializes and starts the Velocity PI-Control of the 3 DC-Motors of the Robotino with an asynchronous call. Additionally if the “Bumper on” input is “TRUE” the BumperCollisonDetection.vi is started which stops all 3 motor-controls upon a collision and thus any further movement. | Initializes and starts the Velocity PI-Control of the 3 DC-Motors of the Robotino with an asynchronous call. Additionally if the “Bumper on” input is “TRUE” the BumperCollisonDetection.vi is started which stops all 3 motor-controls upon a collision and thus any further movement. | ||
[[File:omnistart_vi.png|none|thumb|StartOmniDrive.vi]] | [[File:omnistart_vi.png|none|thumb|StartOmniDrive.vi]] | ||
| + | |||
*SetOmniDrive.vi: | *SetOmniDrive.vi: | ||
| − | Set the current | + | Set the current translational and rotational velocities of the Robotino in meter per second and revolutions per second. This VI transforms those inputs into specific rotational speeds for the three Omnidrive wheels. Those calculated values are written into the three global variables “n (M1)”,”n (M2)” and “n (M3)” which are the input values for the different Motor_PI.vi respectively. |
| − | + | [[File:OmniSet_vi.png|none|thumb|SetOmniDrive.vi]] | |
*StopOmniDrive.vi | *StopOmniDrive.vi | ||
| + | *DistanceIR | ||
Revision as of 15:43, 19 January 2016
Contents
Introduction
This Page deals with the different VI of the Block Diagram Palette, Front Panel Palette and some other important VI like the PI-Control of the Omnidrive. The last section is about getting you started with your own Project with the Toolkit.
Block Diagram VI
The Block Diagram consist of four of VI. Three for the OmniDrive control and one for the Distance IR-Sensor.
- StartOmniDrive.vi:
Initializes and starts the Velocity PI-Control of the 3 DC-Motors of the Robotino with an asynchronous call. Additionally if the “Bumper on” input is “TRUE” the BumperCollisonDetection.vi is started which stops all 3 motor-controls upon a collision and thus any further movement.
- SetOmniDrive.vi:
Set the current translational and rotational velocities of the Robotino in meter per second and revolutions per second. This VI transforms those inputs into specific rotational speeds for the three Omnidrive wheels. Those calculated values are written into the three global variables “n (M1)”,”n (M2)” and “n (M3)” which are the input values for the different Motor_PI.vi respectively.
- StopOmniDrive.vi
- DistanceIR
