This VI runs in parallel to other tasks. It can contain as many user-defined periodic loops as you need. These can carry out PID or other sorts of timed response.
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error in error in can accept error information wired from VIs previously called. Use this information to decide if any functionality should be bypassed in the event of errors from other VIs. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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status status is TRUE (X) if an error occurred or FALSE (checkmark) to indicate a warning or that no error occurred. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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code code is the error or warning code. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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source source describes the origin of the error or warning. Right-click the error in control on the front panel and select Explain Error or Explain Warning from the shortcut menu for more information about the error. |
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RobotConfig |
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Motors |
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DriveRightPrimary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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DriveRightSecondary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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DriveLeftPrimary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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DriveLeftSecondary |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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RearClimb |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Front Climb |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Climb Drive |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Shoulder1 |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Shoulder2 |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Wrist |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Extension |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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CargoIntake |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Intake2 |
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CAN Address |
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Invert |
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InvertSensor |
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Unit Conversion Factor |
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Brake Mode |
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Reverse Limt Switch Mode |
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Forward Limt Swith Mode |
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PWM Channel PWM Channel specifies the channel you want to use for the motor controller. Select a value from PWM 0 to PWM 9 or from PWM MXP 0 to PWM MXP 9. The default is PWM 0. If PWM Channel is Invalid, this VI returns an error. |
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Motor Controller Type |
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Peak Current (A) |
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Continuos Current (A) |
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Peak Duration (ms) |
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Current Limit Enable |
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Sensors |
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IMU |
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Yaw Axis |
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SPI Chip Select |
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AHRS Algorithm |
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Calibration Time (s) |
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Calibrate On Open |
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HomingButton |
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DIO Channel |
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Active Low |
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HomingLED_Green |
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DIO Channel |
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Active Low |
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HomingLED_Yellow |
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DIO Channel |
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Active Low |
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HomingLED_Red |
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DIO Channel |
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Active Low |
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PID |
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FrontClimb |
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P |
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I |
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D |
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F |
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IZone |
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RearClimb |
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P |
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I |
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D |
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F |
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IZone |
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ArmShoulder |
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P |
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I |
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D |
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F |
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IZone |
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ArmExtend |
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P |
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I |
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D |
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F |
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IZone |
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ArmWrist |
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P |
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I |
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D |
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F |
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IZone |
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Solenoids |
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Shifter |
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Solenoid Channel |
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Invert |
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Hatch Grip |
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Solenoid Channel |
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Invert |
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Hatch Extend |
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Solenoid Channel |
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Invert |
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Manipulator Slide |
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Solenoid Channel |
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Invert |
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Hatch Floor Intake |
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Solenoid Channel |
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Invert |
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Enable Compressor |
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MotionMagic |
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FrontClimbExtend |
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CruiseVelocity |
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Acceleration |
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RearClimbExtend |
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CruiseVelocity |
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Acceleration |
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FrontClimbRetract |
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CruiseVelocity |
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Acceleration |
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RearClimbRetract |
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CruiseVelocity |
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Acceleration |
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RobotDimensions |
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Length (in) |
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Shoulder Height (in) |
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Frame Height (in) |
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Arm Center to Front of Robot (in) |
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Arm Min Extension (in) |
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Arm Max Extension (in) |
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Cargo Intake Loop Length (in) |
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Cargo Intake Loop Width (in) |
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Cargo Intake Loop Offset (in) |
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Cargo Intake Loop Angle (rad) |
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Arm Home Position |
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Radius (in) |
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ShoulderAngle (rad) |
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WristAngle (rad) |
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Climb Home Position |
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Back Climb |
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Front Climb |
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Climb Positions |
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Retract |
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Level 2 |
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Level 3 |
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Argo Drive Joystick Map |
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Auto Speed |
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Look Up Table OUT |
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Numeric |
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Look Up Table IN |
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Numeric |
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Low Speed |
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Look Up Table OUT |
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Numeric |
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Look Up Table IN |
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Numeric |
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Auto Turning |
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Look Up Table OUT |
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Numeric |
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Look Up Table IN |
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Numeric |
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Low Turning |
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Look Up Table OUT |
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Numeric |
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Look Up Table IN |
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Numeric |
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High Speed |
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Look Up Table OUT |
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Numeric |
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Look Up Table IN |
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Numeric |
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High Turning |
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Look Up Table OUT |
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Numeric |
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Look Up Table IN |
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Numeric |
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ArmWristControlMap |
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In |
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Numeric |
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Out |
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Numeric |
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ArmShoulderControlMap |
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In |
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Numeric |
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Out |
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Numeric |
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ArmExtendControlMap |
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In |
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Numeric |
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Out |
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Numeric |
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ArmControlMode |
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Arm Pass Through Params |
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Pass Through Length (in) |
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Pass Through Min Height (in) |
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Pass Through Max Height (in) |
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Pass Through Wrist Angle (rad) |
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Arm MotionProfileParams |
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Trajectory Point Interval (ms) |
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Maximum Travel Speed (units/s) |
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Velocity Ramp Time (ms) |
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Acceleration Ramp Time (ms) |
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Game Piece Position |
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Hatch Forward |
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FeederStation |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Low |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Mid |
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X (in) |
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Y (in) |
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Wrist (rad) |
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High |
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X (in) |
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Y (in) |
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Wrist (rad) |
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FloorIntake |
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X (in) |
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Y (in) |
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Wrist (rad) |
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CargoShip |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Hatch Reverse |
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FeederStation |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Low |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Mid |
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X (in) |
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Y (in) |
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Wrist (rad) |
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High |
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X (in) |
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Y (in) |
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Wrist (rad) |
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FloorIntake |
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X (in) |
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Y (in) |
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Wrist (rad) |
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CargoShip |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Cargo Forward |
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FeederStation |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Low |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Mid |
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X (in) |
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Y (in) |
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Wrist (rad) |
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High |
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X (in) |
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Y (in) |
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Wrist (rad) |
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FloorIntake |
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X (in) |
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Y (in) |
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Wrist (rad) |
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CargoShip |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Cargo Reverse |
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FeederStation |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Low |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Mid |
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X (in) |
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Y (in) |
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Wrist (rad) |
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High |
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X (in) |
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Y (in) |
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Wrist (rad) |
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FloorIntake |
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X (in) |
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Y (in) |
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Wrist (rad) |
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CargoShip |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Hold |
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X (in) |
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Y (in) |
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Wrist (rad) |
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Turning_Still_Multiplier |
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Drive Loop Rate (Hz) |
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Compressor Loop Rate (Hz) |
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Implement Loop Rate (Hz) |
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LED Loop Rate (Hz) |
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Testing Loop Rate (Hz) |
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Path Planning Loop Rate (Hz) |
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MP Control Loop Rate (Hz) |
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Dashboard Loop Rate (Hz) |
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ClimbRobotDriveEnable |
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ClimbRobotDrive |
"Periodic Tasks.vi History"
Current Revision: 148
