Read DC Motor Velocities VI

Requires: LabVIEW Robotics Starter Kit

Owning Palette: Starter Kit 1.0 VIs, Starter Kit 2.0 VIs

Reads and returns the velocities of the left and right drive motors on the Starter Kit robot in the counterclockwise direction. The left and right motors are defined by their positions as you view the robot from behind.

Use this VI with the Steering VIs to convert between individual motor velocities and the overall steering frame velocity and to implement other steering behavior for a Starter Kit robot.

Examples

	starter kit host in is a reference to the communication session between the host VI and the FPGA on the robot. Use the Starter Kit initialization VI that is appropriate for your application to generate this LabVIEW class object.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	starter kit host out is a reference to the communication session between the host VI and the FPGA on the robot. You can wire this output to other Starter Kit VIs.
	left motor ccw velocity (rad/s) returns the velocity, in radians per second, at which the left motor moves. The velocity value this VI returns is that which turns the left-side wheels in the counterclockwise direction when you view the wheels from on end. Thus, positive values move the robot forward, and negative values move the robot backward.
	right motor ccw velocity (rad/s) specifies the velocity, in radians per second, at which the right motor moves. The velocity value this VI returns is that which turns the right-side wheels in the counterclockwise direction when you view the wheels from on end. Thus, negative values move the robot forward, and positive values move the robot backward.
	error out contains error information. This output provides standard error out functionality.

Examples

Refer to the following VIs for examples of using the Read DC Motor Velocities VI:

• labview\examples\robotics\Starter Kit 1.0\Starter Kit 1.0.lvproj
• labview\examples\robotics\Starter Kit 2.0\Starter Kit 2.0.lvproj