Difference between revisions of "Robotino myRIO Toolkit"
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*StartOmniDrive.vi: | *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. | + | 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. The VI has the references to the asynchronous called VI as output. |
[[File:omnistart_vi.png|none|thumb|StartOmniDrive.vi]] | [[File:omnistart_vi.png|none|thumb|StartOmniDrive.vi]] | ||
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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. | 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]] | [[File:OmniSet_vi.png|none|thumb|SetOmniDrive.vi]] | ||
| − | *StopOmniDrive.vi | + | *StopOmniDrive.vi: |
| − | *DistanceIR | + | This VI stops the Motor_PI.vi then closes the references to them. This VI has the Cluster of references from the StartOmniDrive.vi as input. |
| − | + | [[File:OmniStop_vi.png|none|thumb|StopOmniDrive.vi]] | |
| + | *DistanceIR.vi: | ||
| + | This VI initializes and configures the SPI-Connection with the [http://www.analog.com/media/en/technical-documentation/data-sheets/AD7490.pdf ADC (AD7490)] and then transforms the transmitted voltage values of the 9 IR-Sensors into distances in meter. Per run of this VI only one new analog input Value is transmitted so that it needs 16 calls of this function for all analog inputs to be updated. | ||
| + | [[File:IrDistance_vi.png|none|thumb|DistanceIR.vi]] | ||
Revision as of 16:16, 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. The VI has the references to the asynchronous called VI as output.
- 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:
This VI stops the Motor_PI.vi then closes the references to them. This VI has the Cluster of references from the StartOmniDrive.vi as input.
- DistanceIR.vi:
This VI initializes and configures the SPI-Connection with the ADC (AD7490) and then transforms the transmitted voltage values of the 9 IR-Sensors into distances in meter. Per run of this VI only one new analog input Value is transmitted so that it needs 16 calls of this function for all analog inputs to be updated.
