Copyright © 2014, Dr Robot Inc. All Rights Reserved. www.DrRobot.com V.04.11.14
- 24 -
// left track motor
tempM = Trans2Temperature((
double
)myJaguar.GetCustomAD7());
tempM =
double
.Parse(tempM.ToString(
"0.00"
));
lblTemp3.Text = tempM.ToString(
"0.00"
);
// right track motor
tempM = Trans2Temperature((
double
)myJaguar.GetCustomAD8());
tempM =
double
.Parse(tempM.ToString(
"0.00"
));
lblTemp4.Text = tempM.ToString(
"0.00"
);
leftFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse4();
leftFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed4();
leftFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir4();
rightFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse5();
rightFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed5();
rightFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir5();
}
To stop all motor, you could use:
myJaguar.DcMotorPwmNonTimeCtrAll(16384, 16384, 16384, 16384, 16384,
16384);
To control arm motor using PWM control with value 32767 (full PWM) you could use:
myJaguar.DcMotorPwmNonTimeCtrAll(32767,NOCONTROL, NOCONTROL, NOCONTROL,
NOCONTROL, NOCONTROL);
or
myJaguar.DcMotorPwmNonTimeCtr(0,32767);
Using position control, move motor to encoder position 2000 in 2000 ms, you could use:
myJaguar.DcMotorPositionTimeCtrAll(2000,NOCONTROl,NOCONTROL,NOCONTROL,N
OCONTROL, NOCONTROL, 2000);
or
myJaguar.DcMotorPositionTimeCtr(0, 2000, 2000);
Using velocity control, move motor at encoder speed 200, you could use:
myJaguar.DcMotorVelocityNonTimeCtrAll(200,NOCONTROL,NOCONTROL,NOCONTROL
,NOCONTROL,NOCONTROL);
or
myJaguar.DcMotorVelocityNonTimeCtr(0,200);
For track/wheel motor control, we use differential-drive mode. Under this mode, PWM channel 3 is forward
power and PWM 4 is turning power.
To move forward with full power
myJaguar.DcMotorPwmNonTimeCtr(3,0);
To move backward with full power
myJaguar.DcMotorPwmNonTimeCtr(3,32767);
To turn left with full power
myJaguar.DcMotorPwmNonTimeCtr(4,0);
