root/branches/livecd/RWTHMindstormsNXT/doc/functions/help/NXT_GetOutputState.html @ 465

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NXTmotor: remove "silent toggling" and move adaptive default settings in constructor
SendToNXT: add warning of ignoring Speedregulation in the case of MultipleMotorPorts?, disabled brakeAtTachoLimit=0 warning, add missing %
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12      <title>NXT_GetOutputState</title>
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19<p class="header">RWTH - Mindstorms NXT Toolbox</p>
20      <div class="content">
21         <h1>NXT_GetOutputState</h1>
22         <!--introduction-->
23         <p>Requests and retrieves an output motor state reading</p>
24         <!--/introduction-->
25         <h2>Contents</h2>
26         <div>
27            <ul>
28               <li><a href="#2">Syntax</a></li>
29               <li><a href="#5">Description</a></li>
30               <li><a href="#27">Examples</a></li>
31               <li><a href="#30">See also</a></li>
32               <li><a href="#32">Signature</a></li>
33            </ul>
34         </div>
35         <h2>Syntax<a name="2"></a></h2>
36         <p><tt>data = NXT_GetOutputState(port)</tt></p>
37         <p><tt>data = NXT_GetOutputState(port, handle)</tt></p>
38         <h2>Description<a name="5"></a></h2>
39         <p><tt>data = NXT_GetOutputState(port)</tt> requests and retrieves an output motor state reading of the given motor <tt>port</tt>. The value <tt>port</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 return value <tt>data</tt> is a struct variable. It contains several motor settings and information.
40         </p>
41         <p><tt>data = NXT_GetOutputState(port, handle)</tt> uses the given Bluetooth connection <tt>handle</tt>. This should be a serial handle on a PC system and a file handle on a Linux system.
42         </p>
43         <p>If no Bluetooth handle is specified the default one (<tt>COM_GetDefaultNXT</tt>) is used.
44         </p>
45         <p><b>Output:</b></p>
46         <p><tt>data.Port</tt>               % current port number (<tt>0..3</tt>)
47         </p>
48         <p><tt>data.Power</tt>              % current motor power
49         </p>
50         <p><tt>data.Mode</tt>               % motor mode byte
51         </p>
52         <p><tt>data.ModeIsMOTORON</tt>      % flag: "motor is on"
53         </p>
54         <p><tt>data.ModeIsBRAKE</tt>        % flag: "motor uses the advanced brake mode (PVM)"
55         </p>
56         <p><tt>data.ModeIsREGULATED</tt>    % flag: "motor uses a regulation"
57         </p>
58         <p><tt>data.RegModeByte</tt>        % motor regulation byte
59         </p>
60         <p><tt>data.RegModeName</tt>        % name of regulation mode
61         </p>
62         <p><tt>data.TurnRatio</tt>          % turn ratio value
63         </p>
64         <p><tt>data.RunStateByte</tt>       % motor run state byte
65         </p>
66         <p><tt>data.RegStateName</tt>       % name of run state
67         </p>
68         <p><tt>data.TachoLimit</tt>         % tacho / angle limit
69         </p>
70         <p><tt>data.TachoCount</tt>         % current absolute tacho count
71         </p>
72         <p><tt>data.BlockTachoCount</tt>    % current relative tacho count
73         </p>
74         <p><tt>data.RotationCount</tt>      % current second relative tacho count
75         </p>
76         <p>For more details see the official LEGO Mindstorms communication protocol.</p>
77         <h2>Examples<a name="27"></a></h2><pre class="codeinput">   data = NXT_GetOutputState(MOTOR_B);
78</pre><pre class="codeinput">   handle = COM_OpenNXT(<span class="string">'bluetooth.ini'</span>,<span class="string">'check'</span>);
79   data = NXT_GetOutputState(MOTOR_A, handle);
80</pre><h2>See also<a name="30"></a></h2>
81         <p><a href="GetMotorSettings.html">GetMotorSettings</a>, <a href="SendMotorSettings.html">SendMotorSettings</a>, <a href="NXT_SetOutputState.html">NXT_SetOutputState</a>, <a href="MOTOR_A.html">MOTOR_A</a>, <a href="MOTOR_B.html">MOTOR_B</a>, <a href="MOTOR_C.html">MOTOR_C</a></p>
82         <h2>Signature<a name="32"></a></h2>
83         <div>
84            <ul>
85               <li><b>Author:</b> Linus Atorf (see AUTHORS)
86               </li>
87               <li><b>Date:</b> 2007/10/15
88               </li>
89               <li><b>Copyright:</b> 2007-2008, RWTH Aachen University
90               </li>
91            </ul>
92         </div>
93         <p class="footer"><br>
94            Published with wg_publish; V1.0<br></p>
95      </div>
96      <!--
97##### SOURCE BEGIN #####
98%% NXT_GetOutputState
99% Requests and retrieves an output motor state reading
100%%
101%% Syntax
102% |data = NXT_GetOutputState(port)|
103%%
104% |data = NXT_GetOutputState(port, handle)|
105%%
106%% Description
107% |data = NXT_GetOutputState(port)| requests and retrieves an output motor state reading of the
108% given motor |port|. The value |port| can be addressed by the symbolic constants |MOTOR_A|,
109% |MOTOR_B| and |MOTOR_C| analog to the labeling on the NXT Brick.  The return value |data| is a
110% struct variable. It contains several motor settings and information.
111%%
112% |data = NXT_GetOutputState(port, handle)| uses the given Bluetooth connection |handle|. This should be a
113% serial handle on a PC system and a file handle on a Linux system.
114%%
115% If no Bluetooth handle is specified the default one (|COM_GetDefaultNXT|) is used.
116%%
117%%
118% *Output:*
119%%
120% |data.Port|               % current port number (|0..3|)
121%%
122% |data.Power|              % current motor power
123%%
124% |data.Mode|               % motor mode byte
125%%
126% |data.ModeIsMOTORON|      % flag: "motor is on"
127%%
128% |data.ModeIsBRAKE|        % flag: "motor uses the advanced brake mode (PVM)"
129%%
130% |data.ModeIsREGULATED|    % flag: "motor uses a regulation"
131%%
132% |data.RegModeByte|        % motor regulation byte
133%%
134% |data.RegModeName|        % name of regulation mode
135%%
136% |data.TurnRatio|          % turn ratio value
137%%
138% |data.RunStateByte|       % motor run state byte
139%%
140% |data.RegStateName|       % name of run state
141%%
142% |data.TachoLimit|         % tacho / angle limit
143%%
144% |data.TachoCount|         % current absolute tacho count
145%%
146% |data.BlockTachoCount|    % current relative tacho count
147%%
148% |data.RotationCount|      % current second relative tacho count
149%%
150% For more details see the official LEGO Mindstorms communication protocol.
151%%
152%% Examples
153   data = NXT_GetOutputState(MOTOR_B);
154%%
155   handle = COM_OpenNXT('bluetooth.ini','check');
156   data = NXT_GetOutputState(MOTOR_A, handle);
157%%
158%% See also
159% GetMotorSettings, SendMotorSettings, NXT_SetOutputState, MOTOR_A, MOTOR_B, MOTOR_C
160%%
161%% Signature
162%%
163% * *Author:* Linus Atorf (see AUTHORS)
164% * *Date:* 2007/10/15
165% * *Copyright:* 2007-2008, RWTH Aachen University
166%
167
168##### SOURCE END #####
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