Remove Wheels from Steering Frame VI

Owning Palette: Advanced VIs

Requires: Robotics Module

Removes the wheel or wheels you specify from steering frame in. You must manually select the polymorphic instance to use.

Remove Single Wheel from Steering Frame

	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.
	wheel index specifies the index of the wheel on which to operate, where 0 corresponds to the first wheel you added to the steering frame, 1 corresponds to the second wheel, and so on. If you specify an index value greater than the number of wheels steering frame in contains, LabVIEW returns FALSE in found? for the invalid index.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	x position contains the x-coordinate of the wheel with respect to the center of the steering frame. A negative value represents a position to the left of the center, and a positive value represents a position to the right of the center.
	y position contains the y-coordinate of the wheel with respect to the center of the steering frame. A negative value represents a position to the rear of the center, and a positive value represents a position to the front of the center.
	steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
	removed wheel contains the wheel removed from steering frame in.
	found? indicates whether steering frame in contains the wheel you specify.
	error out contains error information. This output provides standard error out functionality.
	frame angle (rad) contains the angle of the wheel frame, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above.

Remove Multiple Wheels from Steering Frame

	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.
	wheel indexes specifies the indexes of the wheels on which to operate, where 0 corresponds to the first wheel you added to the steering frame, 1 corresponds to the second wheel, and so on. If you specify an index value greater than the number of wheels steering frame in contains, LabVIEW returns FALSE in found? for the invalid index.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	x positions contains the x-coordinates of the wheels with respect to the center of the steering frame. Negative values represent positions to the left of the center, and positive values represent positions to the right of the center.
	y positions contains the y-coordinates of the wheels with respect to the center of the steering frame. Negative values represent positions to the rear of the center, and positive values represent positions to the front of the center.
	steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
	removed wheels contains the wheels removed from steering frame in.
	found? indicates whether steering frame in contains the wheels you specify.
	error out contains error information. This output provides standard error out functionality.
	frame angles (rad) contains the angles of the wheel frames, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above.

Remove Single Wheel from Steering Frame by Name

	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.
	wheel name specifies the identifier for the wheel. If you specify a name for a wheel that steering frame in does not contain, LabVIEW returns FALSE in found? for the invalid name.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	x position contains the x-coordinate of the wheel with respect to the center of the steering frame. A negative value represents a position to the left of the center, and a positive value represents a position to the right of the center.
	y position contains the y-coordinate of the wheel with respect to the center of the steering frame. A negative value represents a position to the rear of the center, and a positive value represents a position to the front of the center.
	steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
	removed wheel contains the wheel removed from steering frame in.
	found? indicates whether steering frame in contains the wheel you specify.
	error out contains error information. This output provides standard error out functionality.
	frame angle (rad) contains the angle of the wheel frame, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above.

Remove Multiple Wheels from Steering Frame by Name

	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.
	wheel names specifies the identifiers for the wheels. If you specify a name for a wheel that steering frame in does not contain, LabVIEW returns FALSE in found? for the invalid name.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	x positions contains the x-coordinates of the wheels with respect to the center of the steering frame. Negative values represent positions to the left of the center, and positive values represent positions to the right of the center.
	y positions contains the y-coordinates of the wheels with respect to the center of the steering frame. Negative values represent positions to the rear of the center, and positive values represent positions to the front of the center.
	steering frame out is a reference to the steering frame. You can wire this output to other Steering VIs.
	removed wheels contains the wheels removed from steering frame in.
	found? indicates whether steering frame in contains the wheels you specify.
	error out contains error information. This output provides standard error out functionality.
	frame angles (rad) contains the angles of the wheel frames, measured counterclockwise from the direction of forward travel of the steering frame as viewed from above.