root/tags/version-3.00/RWTHMindstormsNXT/doc/functions/help/NXTMotor.html @ 710

Revision 710, 8.9 KB (checked in by atorf, 4 years ago)

/!\ Added tag for version-3.00
Line 
1
2<!DOCTYPE html
3  PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
4<html>
5   <head>
6      <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
7   
8      <!--
9This HTML is auto-generated from an M-file.
10To make changes, update the M-file and republish this document.
11      -->
12      <title>NXTMotor</title>
13      <meta name="generator" content="MATLAB 7.8">
14      <meta name="date" content="2009-07-17">
15      <meta name="m-file" content="script_NXTMotor">
16<link type="text/css" rel="stylesheet" href="../../style.css">
17  </head>
18   <body>
19<p class="header">RWTH - Mindstorms NXT Toolbox</p>
20      <div class="content">
21         <h1>NXTMotor</h1>
22         <!--introduction-->
23         <p>Constructs an NXTMotor object</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="#22">Limitations</a></li>
31               <li><a href="#26">Example:</a></li>
32               <li><a href="#28">See also</a></li>
33               <li><a href="#31">Signature</a></li>
34            </ul>
35         </div>
36         <h2>Syntax<a name="2"></a></h2>
37         <p><tt>M = NXTMotor(PORT)</tt></p>
38         <p><tt>M = NXTMotor(PORT, 'PropName1', PropValue1, 'PropName2', PropValue2, ...)</tt></p>
39         <h2>Description<a name="5"></a></h2>
40         <p><tt>M = NXTMotor(PORT)</tt> constructs an NXTMotor object with motor port <tt>PORT</tt> and default attributes. <tt>PORT</tt> may be either the port number (0, 1, 2 or MOTOR_A, MOTOR_B, MOTOR_C) or a  string specifying the port ('A', 'B', 'C'). To
41            have two motors synchronized <tt>PORT</tt> may be a vector of two ports in ascending order.
42         </p>
43         <p><tt>M = NXTMotor(PORT, 'PropName1', PropValue1, 'PropName2', PropValue2, ...)</tt> constructs an NXTMotor object with motor port(s) <tt>PORT</tt> in which the given Property name/value pairs are set on the object. All properties can also be set after creation by dot-notation
44            (see example).
45         </p>
46         <p>Available properties are:</p>
47         <div>
48            <ul>
49               <li><tt>Port</tt> - the motor port(s) being used, either a string composed of the letters <tt>'A'</tt>, <tt>'B'</tt>, <tt>'C'</tt>, or a single value or array of the numbers 0, 1, 2. A maximum of 2 motors is allowed. If 2 motors are specified, the bot
50                  will drive in sync mode, good for driving straight ahead
51               </li>
52            </ul>
53         </div>
54         <div>
55            <ul>
56               <li><tt>Power</tt> - integer from -100 to 100, sets power level and direction of rotation (0 to 100%)
57               </li>
58            </ul>
59         </div>
60         <div>
61            <ul>
62               <li><tt>SpeedRegulation</tt> - if set to <tt>true</tt> (default), the motor will try to hold a constant speed by adjusting power output according to load (e.g. friction) - this
63                  is only valid for single motors
64               </li>
65            </ul>
66         </div>
67         <div>
68            <ul>
69               <li><tt>TachoLimit</tt> - integer from 0 to 99999, specifies the angle in degrees the motor will try to reach, set 0 to run forever
70               </li>
71            </ul>
72         </div>
73         <div>
74            <ul>
75               <li><tt>ActionAtTachoLimit</tt> - if set to 'Brake' (default), the motor will brake once the <tt>TachoLimit</tt> (which must not be 0) is reached, forcing a hard stop at precisely the desired position (+/- some degrees). Otherwise set
76                  to 'Coast'.
77               </li>
78            </ul>
79         </div>
80         <p>For a list of valid methods, see the "See also" section below.</p>
81         <h2>Limitations<a name="22"></a></h2>
82         <p>When driving with 2 motors (i.e. in sync-mode), a <tt>TachoLimit = 0</tt> (which means driving forever) and with <tt>ActionAtTachoLimit = 'Brake'</tt>, stopping the bot (either via the motor object's function <tt>Stop</tt> or via the command <tt>StopMotor</tt>) will always result in a "hard stop" (as if you had called <tt>Stop('brake')</tt>), even if the parameter of the stop-command was 'off' (indicating a soft stop into coast mode). There is no workaround to
83            this (apart from using the command with <tt>ActionAtTachoLimit = 'Coast'</tt>, in this case the stop-parameters "brake" or "off" will be interpreted as expected).
84         </p>
85         <h2>Example:<a name="26"></a></h2><pre class="codeinput">      <span class="comment">% Construct a NXTMotor object on port 'B' with a power of</span>
86      <span class="comment">% 60, disabled speed regulation, a TachoLimit of 360 and</span>
87      <span class="comment">% send the motor settings to the NXT brick.</span>
88      mb = NXTMotor(<span class="string">'B'</span>, <span class="string">'Power'</span>, 60)
89      mb.SpeedRegulation = 1;
90      mb.TachoLimit = 360;
91      SendToNXT(mb);
92</pre><h2>See also<a name="28"></a></h2>
93         <p><a href="SendToNXT.html">SendToNXT</a>, <a href="ReadFromNXT.html">ReadFromNXT</a>, <a href="WaitFor.html">WaitFor</a>, <a href="Stop.html">Stop</a>, <a href="ResetPosition.html">ResetPosition</a>, </p>
94         <h2>Signature<a name="31"></a></h2>
95         <div>
96            <ul>
97               <li><b>Author:</b> Aulis Telle, Alexander Behrens, Linus Atorf (see AUTHORS)
98               </li>
99               <li><b>Date:</b> 2008/10/22
100               </li>
101               <li><b>Copyright:</b> 2007-2008, RWTH Aachen University
102               </li>
103            </ul>
104         </div>
105         <p class="footer"><br>
106            Published with wg_publish; V1.0<br></p>
107      </div>
108      <!--
109##### SOURCE BEGIN #####
110%% NXTMotor
111% Constructs an NXTMotor object
112%%
113%% Syntax
114% |M = NXTMotor(PORT)|
115%%
116% |M = NXTMotor(PORT, 'PropName1', PropValue1, 'PropName2', PropValue2, ...)|
117%%
118%% Description
119% |M = NXTMotor(PORT)| constructs an NXTMotor object with motor
120% port |PORT| and default attributes. |PORT| may be either the port
121% number (0, 1, 2 or MOTOR_A, MOTOR_B, MOTOR_C) or a  string
122% specifying the port ('A', 'B', 'C'). To have two motors
123% synchronized |PORT| may be a vector of two ports in ascending
124% order.
125%%
126% |M = NXTMotor(PORT, 'PropName1', PropValue1, 'PropName2', PropValue2, ...)|
127% constructs an NXTMotor object with motor port(s) |PORT| in which the given
128% Property name/value pairs are set on the object. All properties can also be set after
129% creation by dot-notation (see example).
130%%
131% Available properties are:
132%%
133%%
134% * |Port| - the motor port(s) being used, either a string composed of the
135% letters |'A'|, |'B'|, |'C'|, or a single value or array of the
136% numbers 0, 1, 2. A maximum of 2 motors is allowed. If 2 motors
137% are specified, the bot will drive in sync mode, good for driving
138% straight ahead
139%%
140%%
141% * |Power| - integer from -100 to 100, sets power level and direction of rotation (0 to 100%)
142%%
143%%
144% * |SpeedRegulation| - if set to |true| (default), the motor will try to hold a
145% constant speed by adjusting power output according to load (e.g.
146% friction) - this is only valid for single motors
147%%
148%%
149% * |TachoLimit| - integer from 0 to 99999, specifies the angle in degrees
150% the motor will try to reach, set 0 to run forever
151%%
152%%
153% * |ActionAtTachoLimit| - if set to 'Brake' (default), the motor will brake
154% once the |TachoLimit| (which must not be 0) is reached, forcing a hard
155% stop at precisely the desired position (+/- some degrees).
156% Otherwise set to 'Coast'.
157%%
158%%
159%%
160% For a list of valid methods, see the "See also" section below.
161%%
162%% Limitations
163% When driving with 2 motors (i.e. in sync-mode), a |TachoLimit = 0|
164% (which means driving forever) and with |ActionAtTachoLimit = 'Brake'|,
165% stopping the bot (either via the motor object's function |Stop| or via
166% the command |StopMotor|) will always result in a "hard stop" (as if you had
167% called |Stop('brake')|), even if the parameter of the stop-command was
168% 'off' (indicating a soft stop into coast mode). There is no workaround
169% to this (apart from using the command with |ActionAtTachoLimit = 'Coast'|,
170% in this case the stop-parameters "brake" or "off" will be interpreted
171% as expected).
172%%
173%%
174%%
175%% Example:
176      % Construct a NXTMotor object on port 'B' with a power of
177      % 60, disabled speed regulation, a TachoLimit of 360 and
178      % send the motor settings to the NXT brick.
179      mb = NXTMotor('B', 'Power', 60)
180      mb.SpeedRegulation = 1;
181      mb.TachoLimit = 360;
182      SendToNXT(mb);
183%%
184%% See also
185% SendToNXT, ReadFromNXT, WaitFor, Stop, ResetPosition
186%%
187%%
188%% Signature
189%%
190% * *Author:* Aulis Telle, Alexander Behrens, Linus Atorf (see AUTHORS)
191% * *Date:* 2008/10/22
192% * *Copyright:* 2007-2008, RWTH Aachen University
193%
194
195##### SOURCE END #####
196-->
197   </body>
198</html>
Note: See TracBrowser for help on using the browser.