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12      <title>SyncToMotor</title>
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19<p class="header">RWTH - Mindstorms NXT Toolbox</p>
20      <div class="content">
21         <h1>SyncToMotor</h1>
22         <introduction>
23            <p>Enables synchronization regulation for current active and specified motor</p>
24         </introduction>
25         <h2>Contents</h2>
26         <div>
27            <ul>
28               <li><a href="#1">Syntax</a></li>
29               <li><a href="#2">Description</a></li>
30               <li><a href="#7">Example</a></li>
31               <li><a href="#8">See also</a></li>
32               <li><a href="#9">Signature</a></li>
33            </ul>
34         </div>
35         <h2>Syntax<a name="1"></a></h2>
36         <p><tt>SyncToMotor(OtherMotor)</tt></p>
37         <h2>Description<a name="2"></a></h2>
38         <p><tt>SyncToMotor(OtherMotor)</tt> sets the synchronization mode to the curren active motor (set by <tt>SetMotor</tt>) and the given motor port <tt>OtherMotor</tt>. The value <tt>OtherMotor</tt> can be addressed by the symbolic constants <tt>MOTOR_A</tt> , <tt>MOTOR_B</tt> and <tt>MOTOR_C</tt> analog to the labeling on the NXT Brick. The synchronization mode can be set off if the value <tt>OtherMotor</tt> is set equal to <tt>'off'</tt>. The synchronization setting takes only affect with the next <tt>SendMotorSettings</tt> command.
39         </p>
40         <p>This means that both motors will act as if they were connected through an axle. Motors with more load on them (rough underground)
41            will automatically be corrected and regulated for example. This "synchronization regulation" is the setting you want to use
42            when driving with your robot. Also turning (SetTurnRatio) only affects motors that are synced.
43         </p>
44         <p><b>Note:</b></p>
45         <p>One motor can not be synchronized to itself. The synchronization mode and the speed regulation mode can be set only together
46            at one time. Once a motor is synced to another motor, all settings set to it will be applied to both motors (until synchronisation
47            is lost of course). Once 2 motors are synced, you effectively control 2 motors with 1 set of commands. This means, when calling
48            <tt>SendMotorSettings</tt>, in fact 2 packets will be send to the 2 synced motors, hence you will experience about twice the lag than usual. Take this
49            into consideration...
50         </p>
51         <p>When using several motor commands with <tt>SyncToMotor</tt> statements, unexpected behaviour can occur, due to the NXTs internal error correction counters. Sometimes it can help to
52            issue the commands <tt>NXT_ResetMotorPosition(port, true)</tt>, <tt>NXT_ResetMotorPosition(port, false)</tt> and <tt>StopMotor(port, 'off')</tt> for each of both motors. Although this seems like a waste of packets, this can do the trick, especially when working with
53            certain turn ratios (see <tt>SetTurnRatio</tt>).
54         </p>
55         <h2>Example<a name="7"></a></h2><pre class="codeinput">   SetMotor(MOTOR_B);
56        SyncToMotor(MOTOR_C);
57        SetPower(76);
58   SendMotorSettings();
59</pre><h2>See also<a name="8"></a></h2>
60         <p><a href="SendMotorSettings.html">SendMotorSettings</a>, <a href="SetMotor.html">SetMotor</a>, <a href="SetPower.html">SetPower</a>, <a href="SetTurnRatio.html">SetTurnRatio</a></p>
61         <h2>Signature<a name="9"></a></h2>
62         <div>
63            <ul>
64               <li><b>Author:</b> Linus Atorf, Alexander Behrens (see AUTHORS)
65               </li>
66               <li><b>Date:</b> 2007/10/15
67               </li>
68               <li><b>Copyright:</b> 2007-2008, RWTH Aachen University
69               </li>
70            </ul>
71         </div>
72         <p class="footer"><br>
73            Published with wg_publish; V1.0<br></p>
74      </div>
75      <!--
76##### SOURCE BEGIN #####
77%% SyncToMotor
78% Enables synchronization regulation for current active and specified motor
79%%
80%% Syntax
81% |SyncToMotor(OtherMotor)|
82%%
83%% Description
84% |SyncToMotor(OtherMotor)| sets the synchronization mode to the curren active motor (set by
85% |SetMotor|) and the given motor port |OtherMotor|. The value |OtherMotor| can be addressed by
86% the symbolic constants |MOTOR_A| , |MOTOR_B| and |MOTOR_C| analog to the labeling on the NXT
87% Brick. The synchronization mode can be set off if the value |OtherMotor| is set equal to
88% |'off'|. The synchronization setting takes only affect with the next |SendMotorSettings| command.
89%%
90% This means that both motors will act as if they were connected through an axle. Motors with more
91% load on them (rough underground) will automatically be corrected and regulated for example. This
92% "synchronization regulation" is the setting you want to use when driving with your robot. Also
93% turning (SetTurnRatio) only affects motors that are synced.
94%%
95%%
96% *Note:*
97%%
98% One motor can not be synchronized to itself. The synchronization mode and the speed regulation
99% mode can be set only together at one time. Once a motor is synced to another motor, all
100% settings set to it will be applied to both motors (until synchronisation is lost of course).
101% Once 2 motors are synced, you effectively control 2 motors with 1 set of commands. This means,
102% when calling |SendMotorSettings|, in fact 2 packets will be send to the 2 synced motors, hence
103% you will experience about twice the lag than usual. Take this into consideration...
104%%
105% When using several motor commands with |SyncToMotor| statements,
106% unexpected behaviour can occur, due to the NXTs internal error correction counters.
107% Sometimes it can help to issue the commands |NXT_ResetMotorPosition(port, true)|,
108% |NXT_ResetMotorPosition(port, false)| and |StopMotor(port, 'off')| for each of both
109% motors. Although this seems like a waste of packets, this can do the trick, especially
110% when working with certain turn ratios (see |SetTurnRatio|).
111%%
112%% Example
113   SetMotor(MOTOR_B);
114        SyncToMotor(MOTOR_C);
115        SetPower(76);
116   SendMotorSettings();
117%%
118%% See also
119% SendMotorSettings, SetMotor, SetPower, SetTurnRatio
120%%
121%% Signature
122%%
123% * *Author:* Linus Atorf, Alexander Behrens (see AUTHORS)
124% * *Date:* 2007/10/15
125% * *Copyright:* 2007-2008, RWTH Aachen University
126%
127
128##### SOURCE END #####
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