Motion Control Functions

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Detailed Description

Use these functions to set motion parameters (velocity, acceleration, rotation rate, etc.), then execute them. Also provided are functions to stop motion.

Functions
NDICMDC_API BOOL	NdiCmd_Coast (int handle)
	Coast.
NDICMDC_API BOOL	NdiCmd_Brake (int handle)
	Brake.
NDICMDC_API BOOL	NdiCmd_Reset (int handle)
	Reset.
NDICMDC_API BOOL	NdiCmd_SetAcceleration (int handle, int accel)
	Set Acceleration.
NDICMDC_API BOOL	NdiCmd_GetAcceleration (int handle, int *accel)
	Get Acceleration.
NDICMDC_API BOOL	NdiCmd_SetVelocity (int handle, int velocity)
	Set Velocity.
NDICMDC_API BOOL	NdiCmd_GetVelocity (int handle, int *velocity)
	Get Velocity.
NDICMDC_API BOOL	NdiCmd_SetRotation (int handle, int rotation)
	Set Rotation Rate.
NDICMDC_API BOOL	NdiCmd_GetRotation (int handle, int *rotation)
	Get Rotation Rate.
NDICMDC_API BOOL	NdiCmd_SetDistance (int handle, long distance)
	Set Distance.
NDICMDC_API BOOL	NdiCmd_GetDistance (int handle, long *distance)
	Get Distance.
NDICMDC_API BOOL	NdiCmd_SetAngle (int handle, int angle)
	Set Angle.
NDICMDC_API BOOL	NdiCmd_GetAngle (int handle, int *angle)
	Get Angle.
NDICMDC_API BOOL	NdiCmd_SetXDistance (int handle, long xdistance)
	Set Delta Distance.
NDICMDC_API BOOL	NdiCmd_GetXDistance (int handle, long *xdistance)
	Get Delta Distance.
NDICMDC_API BOOL	NdiCmd_SetXAngle (int handle, int xangle)
	Set Delta Angle.
NDICMDC_API BOOL	NdiCmd_GetXAngle (int handle, int *xangle)
	Get Delta Angle.
NDICMDC_API BOOL	NdiCmd_Go (int handle)
	Go.

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Function Documentation

NDICMDC_API BOOL NdiCmd_Brake

(

int

handle

)

Brake.

This function actively brakes the servo or DC motor. Current will continue to be consumed.

Parameters:

handle

an integer WheelCommander handle

Returns:

NDICMDC_API BOOL NdiCmd_Coast

(

int

handle

)

Coast.

This function stops any current motion, and sets the servo or DC motors into low power mode.

Parameters:

handle

an integer WheelCommander handle

Returns:

NDICMDC_API BOOL NdiCmd_GetAcceleration	(	int	handle,
		int *	accel
	)

Get Acceleration.

This returns the current acceleration value. The value returned will be a scaled version of the value passed to NdiCmd_SetAcceleration().

Parameters:

	handle	an integer WheelCommander handle
	accel	a pointer to an integer

Returns:

NDICMDC_API BOOL NdiCmd_GetAngle	(	int	handle,
		int *	angle
	)

Get Angle.

This returns the current rotation relative to the origin.

Parameters:

	handle	an integer WheelCommander handle
	angle	a pointer to an integer returning the angle rotated in degrees

Returns:

NDICMDC_API BOOL NdiCmd_GetDistance	(	int	handle,
		long *	distance
	)

Get Distance.

This returns the current position.

Parameters:

	handle	an integer WheelCommander handle
	distance	a pointer to an integer returning current position

Returns:

NDICMDC_API BOOL NdiCmd_GetRotation	(	int	handle,
		int *	rotation
	)

Get Rotation Rate.

This returns the measured rate of rotation.

Parameters:

	handle	an integer WheelCommander handle
	rotation	a pointer to an integer returning rate of rotation in degrees per second

Returns:

NDICMDC_API BOOL NdiCmd_GetVelocity	(	int	handle,
		int *	velocity
	)

Get Velocity.

This returns the current measured velocity.

Parameters:

	handle	an integer WheelCommander handle
	velocity	a pointer to an integer in units of distance per second

Returns:

NDICMDC_API BOOL NdiCmd_GetXAngle	(	int	handle,
		int *	xangle
	)

Get Delta Angle.

This returns the current angle relative to the origin, not a relative angle.

Parameters:

	handle	an integer WheelCommander handle
	xangle	a pointer to an integer returning the current angle in degrees

Returns:

NDICMDC_API BOOL NdiCmd_GetXDistance	(	int	handle,
		long *	xdistance
	)

Get Delta Distance.

This returns the current position in the robot's frame of reference, not the relative distance travelled.

Parameters:

	handle	an integer WheelCommander handle
	xdistance	a pointer to a long integer, returning the position

Returns:

NDICMDC_API BOOL NdiCmd_Go

(

int

handle

)

Go.

This starts execution of either the velocity control loops, if only NdiCmd_SetVelocity() and/or NdiCmd_SetRotation() were called, or starts the position control loops, if any of the position, angle, or distance commands were called prior to this.

Parameters:

handle

an integer WheelCommander handle

Returns:

NDICMDC_API BOOL NdiCmd_Reset

(

int

handle

)

Reset.

This clears all motion parameters (velocity, rotation rate, position, and angle), and stops the servos or DC motors.

Parameters:

handle

an integer WheelCommander handle

Returns:

NDICMDC_API BOOL NdiCmd_SetAcceleration	(	int	handle,
		int	accel
	)

Set Acceleration.

This sets the acceleration value used in NdiCmd_SetPosition(), NdiCmd_SetDistance(), NdiCmd_SetAngle(), and NdiCmd_SetXAngle().

Parameters:

	handle	an integer WheelCommander handle
	accel	an integer in units of distance per second squared

Returns:

NDICMDC_API BOOL NdiCmd_SetAngle	(	int	handle,
		int	angle
	)

Set Angle.

This sets the goal angle relative to the origin (which is reset to 0 degrees at position 0 on power on or execution of NdiCmd_Reset()).

Parameters:

	handle	an integer WheelCommander handle
	angle	an integer in degrees

Returns:

NDICMDC_API BOOL NdiCmd_SetDistance	(	int	handle,
		long	distance
	)

Set Distance.

This sets the goal position relative to the origin, which is zero at power on or execution of NdiCmd_Reset().

Parameters:

	handle	an integer WheelCommander handle
	distance	a long integer setting position in current units of distance

Returns:

NDICMDC_API BOOL NdiCmd_SetRotation	(	int	handle,
		int	rotation
	)

Set Rotation Rate.

This sets the rotation rate for use during velocity control mode.

Parameters:

	handle	an integer WheelCommander handle
	rotation	an integer in units of degrees per second

Returns:

NDICMDC_API BOOL NdiCmd_SetVelocity	(	int	handle,
		int	velocity
	)

Set Velocity.

This sets the velocity value for either velocity control mode or the maximum velocity for use during a positioning command.

Parameters:

	handle	an integer WheelCommander handle
	velocity	an integer in units of distance per second

Returns:

NDICMDC_API BOOL NdiCmd_SetXAngle	(	int	handle,
		int	xangle
	)

Set Delta Angle.

This sets a goal change in angle relative to the current pose.

Parameters:

	handle	an integer WheelCommander handle
	xangle	an integer angle to rotate by, in degrees

Returns:

NDICMDC_API BOOL NdiCmd_SetXDistance	(	int	handle,
		long	xdistance
	)

Set Delta Distance.

This sets a distance relative to the current position to travel.

Parameters:

	handle	an integer WheelCommander handle
	xdistance	a long integer in units of distance

Returns: