Determines the motor configuration and sends the speed values to the appropriate motors.
This software is licensed. Open the labview\readme\WPI Robotics Library Open Source License.txt file for more information.
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LeftSpeed LeftSpeed specifies the speed for the left motor. Select a value between -1 and 1. |
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RightSpeed RightSpeed specifies the speed for the right motor. Select a value between -1 and 1. |
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RobotDriveDevRef RobotDriveDevRef specifies a reference to the robot drive you want to use. |
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DevStatus 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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Motors[] |
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SingleMotorRef PWMDeviceRef returns a reference to the PWM. |
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DeviceStatus |
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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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Type |
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PWM |
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PWM Channel |
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DeadBand |
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Name |
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maxPositivePwm |
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minPositivePwm |
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centerPwm |
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maxNegativePwm |
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minNegativePwm |
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angularRange |
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CAN |
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Device Number |
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SetOutput VI Ref |
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GetOutput VI Ref |
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Enable VI Ref |
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Disable VI Ref |
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Data |
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Invert |
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DIO PWM |
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PWM "Enable" Channel |
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DIO Channel |
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PWM Rate |
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Square Inputs |
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Max Output |
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error in (no error) error in (no error) describes error conditions that occur before this node runs. The default is no error. If an error occurred before this node runs, the node passes the error in (no error) value to error out. This node runs normally only if no error occurred before this node runs. If an error occurs while this node runs, it runs normally and sets its own error status in error out. Use the Simple Error Handler or General Error Handler VIs to display the description of the error code. Use exception control to treat what is normally an error as no error or to treat a warning as an error. Use error in (no error) and error out to check errors and to specify execution order by wiring error out from one node to error in (no error) of the next node. |
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status status is TRUE (X) if an error occurred before this node ran or FALSE (checkmark) to indicate a warning or that no error occurred before this node ran. The default is FALSE. |
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code code is the error or warning code. The default is 0. If status is TRUE, code is an error code. If status is FALSE, code is 0 or a warning code. |
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source source specifies the origin of the error or warning and is, in most cases, the name of the node that produced the error or warning. The default is an empty string. |
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RobotDriveDevRef RobotDriveDevRef returns a reference to the robot drive you want to use. |
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DevStatus 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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Motors[] |
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SingleMotorRef PWMDeviceRef returns a reference to the PWM. |
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DeviceStatus |
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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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Type |
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PWM |
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PWM Channel |
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DeadBand |
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Name |
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maxPositivePwm |
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minPositivePwm |
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centerPwm |
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maxNegativePwm |
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minNegativePwm |
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angularRange |
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CAN |
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Device Number |
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SetOutput VI Ref |
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GetOutput VI Ref |
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Enable VI Ref |
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Disable VI Ref |
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Data |
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Invert |
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DIO PWM |
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PWM "Enable" Channel |
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DIO Channel |
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PWM Rate |
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Square Inputs |
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Max Output |
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error out error out contains error information. If error in indicates that an error occurred before this VI or function ran, error out contains the same error information. Otherwise, it describes the error status that this VI or function produces. Right-click the error out front panel indicator and select Explain Error from the shortcut menu for more information about the error. |
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status status is TRUE (X) if an error occurred before this node ran or FALSE (checkmark) to indicate a warning or that no error occurred before this node ran. |
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code code is the error or warning code. If status is TRUE, code is an error code. If status is FALSE, code is 0 or a warning code. |
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source source specifies the origin of the error or warning and is, in most cases, the name of the node that produced the error or warning. |
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Motor Values |
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Output Output specifies the output value or set-point for the motor controller. If you use a Jaguar or Victor motor controller connected to PWM, the scaled value can range from -1.0 to 1.0. If you use a CAN Jaguar, the scale and the units depend on the mode the Jaguar is in. In Percent VBus mode, the range is the same as the PWM interface. In Voltage, Current, Speed, and Position modes, the Output is specified in engineering units (Volts, Amps, Rotations/Minute, and Rotations respectively). The output value can be modified by custom scaling if you specify the TransformRef VI reference in the Open VI. Use this transform if you need to apply a non-linear transformation to the motor control signal to compensate for the characteristics of the motor. |
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Clear Errors.vi C:\Program Files (x86)\National Instruments\LabVIEW 2019\vi.lib\Utility\error.llb\Clear Errors.vi |
"ArgosLib.lvlib:RobotDriveMotors.vi History"
Current Revision: 92
