Bfeher at 19:59, 30 April 2012

2012-04-30T19:59:14Z

Bfeher: moved TETRIX: Servo Controller to TETRIX Servo Controller

2012-04-30T19:58:35Z

moved TETRIX: Servo Controller to TETRIX Servo Controller

Bfeher at 18:02, 13 April 2012

2012-04-13T18:02:28Z

Bfeher: /* servo */

2012-04-04T16:38:54Z

servo

Bfeher at 16:38, 4 April 2012

2012-04-04T16:38:12Z

Show changes

Bfeher: Created page with "{| style="font-family:Verdana, Genega, sans-sarif; font-size:80%;color:gray;" width="100%" cellpadding="0%" cellspacing="0" border="0" |- | ''Main >> [[TETRIX_M..."

2012-04-04T16:18:50Z

Created page with "{| style="font-family:Verdana, Genega, sans-sarif; font-size:80%;color:gray;" width="100%" cellpadding="0%" cellspacing="0" border="0" |- | ''Main >> [[TETRIX_M..."

New page

{| style="font-family:Verdana, Genega, sans-sarif; font-size:80%;color:gray;" width="100%" cellpadding="0%" cellspacing="0" border="0"
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''[[Main_Page|Main]] >> [[TETRIX_Main|TETRIX]] >> [[TETRIX:_Servo_Controller|Servo Controller]] ''
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{|
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|style="vertical-align:top"| __TOC__
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== Information ==
{| class="wikiText"
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|The HiTechnic Motor Controller allows you to drive two 12V motors and read values from two shaft encoders.
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== Configuration ==
{| class="wikiText"
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|Once your HiTechnic DC Motor Controller is configured in the "TETRIX Controllers" tab of the Motors and Sensor Setup screen, you can use the Motors tab of the Motors and Sensors Setup to configure your motors.

[[File:tetrix_motors_1.png]]
|-
|}
 

=== Port ===
{| class="wikiText"
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|The name of the motor. NXT motors are given names "motorA" through "motorC". The TETRIX DC motors are named based on how they're connected to the NXT. The port name can be used to reference a motor in your program (i.e. motor[motorC] = speed;)

The TETRIX motor names can be translated as follows: 
mtr_S1_C1_1 - Motor (mtr) on Sensor Port 1 (S1) connected on the first controller (C1) in the daisy chain attached to Motor Port 1 (1) 
mtr_S1_C1_2 - Motor (mtr) on Sensor Port 1 (S1) connected on the first controller (C1) in the daisy chain attached to Motor Port 2 (2)
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=== Name ===
{| class="wikiText"
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|Motors can be given more descriptive names, such as "LeftMotor" or "FrontMotor". This name is an alias for the motor port name, so you can use it anywhere you want to specify that motor. The first two configured TETRIX motors are given the names "motorD" and "motorE" by default, but these names can be changed based on your preference.
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=== Type ===
{| class="wikiText"
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|This allows you to set the type of motors, wether they are 12V DC motors or NXT motors.
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=== PID Control ===
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|This checkbox enables the PID Speed Control functionality for a motor. The TETRIX DC motors don't have built-in encoders, so they must first be installed to use this feature.
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=== Reverse ===
{| class="wikiText"
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|This checkbox will reverse the direction of a motor in an entire program. This is useful when motors are installed opposite one another. Instead of giving one motor a positive power level and the other motor a negative power level to make the robot move forward, both can be given a positive power level, simplifying your code.
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== ROBOTC Functions ==
{| class="wikiText"
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|
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=== bMotorReflected ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
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| class="variableType"| bool bMotorReflected'''
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| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_bool|bool]]) Boolean array. Used to indicate that the direction of a motor should be reflected 180 degrees. Useful when mechanical design results in a logical "reversed" condition of a motor. This can also be configured in the Motors and Sensor Setup menu in ROBOTC.
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|
{|
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|<syntaxhighlight lang="robotc">
bMotorReflected[motorD] = true; // motor D WILL be reflected 180 degrees
bMotorReflected[motorD] = false; // motor D will NOT be reflected 180 degrees
</syntaxhighlight>
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|}
|-
|}
 

=== motor ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
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| class="variableType"| int motor[tMotor motor]
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| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_int|int]]) Contains the motor power or speed level (-100 to +100). Negative values are reverse; positive formward. A power level of 0 (zero) stops the motors.
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{| class="parameterTable" cellpadding="5%" width="100%"
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Parameter
! width="60%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Explanation
! width="20%" style="border-style: solid; border-width: 0px 0px 1px 0px"|Data Type
|-
| style="border-style: solid; border-width: 1px 0px 0px 0px"|''motor''
| style="border-style: solid; border-width: 1px 0px 0px 0px"|A motor port or name
| style="border-style: solid; border-width: 1px 0px 0px 0px"|[[Data_Types#dataType_tMotor|tMotor]]
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|-
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{|
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|<syntaxhighlight lang="robotc">
motor[motorD] = 100; // motor D is given a power level of 100 (forward)
motor[motorD] = -100; // motor D is given a power level of -100 (reverse)
</syntaxhighlight>
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|}
|-
|}
 

=== nMotorEncoder ===
{| style="color:black;" width="100%" cellpadding="5%" cellspacing="0" border="0"
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| class="variableType"| long nMotorEncoder
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| style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_long|long]]) Current value of the motor encoder. Range is -32768 to 32767 so it will "wrap" after about ~90 revolutions. The user's program should reset the value of the encoder often to avoid the value "resetting" itself when the maximum distance is met.
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|
{|
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|<syntaxhighlight lang="robotc">
nMotorEncoder[motorD] = 0; // reset the Motor Encoder of Motor D
while(nMotorEncoder[motorD] < 360) // while the Motor Encoder of Motor D has not yet reached 360 counts:
{
motor[motorD] = 75; // motor D is given a power level of 75
motor[motorE] = 75; // motor E is given a power level of 75
}
motor[motorD] = 0; // motor D is given a power level of 0 (stop)
motor[motorE] = 0; // motor E is given a power level of 0 (stop)
</syntaxhighlight>
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@@ Line 1: / Line 1: @@
-{| style="font-family:Verdana, Genega, sans-sarif; font-size:80%;color:gray;" width="100%" cellpadding="0%" cellspacing="0" border="0"
+<yambe:breadcrumb self="Servo Controller">TETRIX|TETRIX</yambe:breadcrumb>
-|-
-−
-''[[Main_Page|Main]] &rarr; [[TETRIX_Main|TETRIX]] &rarr; [[TETRIX:_Servo_Controller|Servo Controller]] ''
-|-
-|}
 <br />
-{|
+{{tl|1|}}
-|-
-|style="vertical-align:top"| __TOC__
-|-
 |}
 <br />

@@ Line 99: / Line 99: @@
 |-
 | style="font-family:Verdana, Geneva, sans-serif; color:black; background-color:#FFFFFF; text-align:left; font-size:100%;"|([[Data_Types#dataType_short|short]]) This function is used to set the position of the servos on a sensor port Servo controller. Values can range from 0 to 255. The firmware will automatically move the servo to this poisition over the next few update intervals.  (Be sure to give the servo some amount of time to reach the new position before going on in your code.)
-<br />'''''NOTE:''''' ''<span class="keywordB">servo</span> can be interchanged with <span class="keywordB">servoTarget</span>''
+<br />'''''NOTE:''''' ''<span class="keywordB">servo</span> can be interchanged with <span class="keywordB">servoTarget</span>.''
 |-
+|