Draw Steering Frame Picture VI

Owning Palette: Steering VIs

Requires: Robotics Module

Creates an image you can wire to a 2D picture control to visualize a steering frame on the front panel. The picture can display data about the directions and velocities at which wheels move.

Examples

	drawing options configures details of how the steering frame picture appears. draw wheel states? specifies whether to draw changes to the steering angle of wheels. LabVIEW ignores this input for wheels with fixed steering angles. highlight wheel index specifies the index number of a wheel you want to highlight in blue in the picture. The default is –1, which means this VI does not highlight a wheel. pixels per unit specifies the number of pixels to draw to represent one unit of measurement. For example, you might specify to draw the robot at a size of 400 pixels per inch. draw forward velocity? specifies whether to draw arrows that represent the direction and magnitude of the forward velocity of the robot. velocity scale specifies an amount by which to scale the arrows that represent forward velocity when draw forward velocity? is TRUE. This VI draws arrows of the length that corresponds to the pixels per unit you specify. The default is 1.
	steering frame in is a reference to the steering frame on which to operate. Use the Create Steering Frame VI to generate this LabVIEW class object.
	picture in is an existing picture control whose contents you want to display in picture out along with the steering frame picture this VI draws.
	picture draw area size defines the size of the draw area in the picture control in terms of width and height in pixels. Use the Draw Area Size property to read these values from the picture control in which you want to display the steering frame picture and generate a cluster you can wire to this input.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	steering frame position specifies the position of the steering frame drawing relative to the center of the picture control. x position specifies the x-coordinate of the center of the steering frame. A negative value represents a position to the left of the picture center, and a positive value represents a position to the right of the picture center. y position specifies the y-coordinate of the center of the steering frame. A negative value represents a position to the rear of the picture center, and a positive value represents a position to the front of the picture center. angle (rad) specifies the angle of the steering frame within the picture, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above. An angle of 0 is parallel to the direction of forward travel of the steering frame.
	steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
	picture out is the picture displaying the tree structure.
	error out contains error information. This output provides standard error out functionality.

Examples

Refer to the following VIs for examples of using the Draw Steering Frame Picture VI:

• labview\examples\robotics\Steering\Mecanum Steering\Mecanum Steering.lvproj
• labview\examples\robotics\Steering\Ackermann Steering\Ackermann Steering.lvproj