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11  </head><body><div class="content"><h1>CalibrateCompass</h1><!--introduction--><p>Enables calibration mode of the HiTechnic compass sensor</p><!--/introduction--><h2>Contents</h2><div><ul><li><a href="#2">Syntax</a></li><li><a href="#5">Description</a></li><li><a href="#10">Example</a></li><li><a href="#14">See also</a></li><li><a href="#16">Signature</a></li></ul></div><h2>Syntax<a name="2"></a></h2><p><tt>CalibrateCompass(port, f_start)</tt></p><p><tt>CalibrateCompass(port, f_start, handle)</tt></p><h2>Description<a name="5"></a></h2><p>Calibrate the compass to reduce influence of metallic objects, especially of the NXT motor and brick on compass values. You have to calibrate a roboter only once until the design changes. During calibration the compass should make two full rotations very slowly. The compass sensor has to be opened (using <tt>OpenCompass</tt>) before execution.</p><p>Set <tt>f_start = true</tt> to start calibration mode, and <tt>f_start = false</tt> to stop it. In between those commands, the calibration (compass rotation) should occur.</p><p>The given <tt>port</tt> number specifies the connection port. The value <tt>port</tt> can be addressed by the symbolic constants <tt>SENSOR_1</tt> , <tt>SENSOR_2</tt>, <tt>SENSOR_3</tt> and <tt>SENSOR_4</tt> analog to the labeling on the NXT Brick.</p><p>The last optional argument can be a valid NXT handle. If none is specified, the default handle will be used (call <tt>COM_SetDefaultNXT</tt> to set one).</p><h2>Example<a name="10"></a></h2><pre class="codeinput">     <span class="comment">% compass must be open for calibration</span>
12     OpenCompass(SENSOR_2);
13
14     <span class="comment">% enable calibration mode</span>
15     CalibrateCompass(SENSOR_2, true);
16
17     <span class="comment">% compass is attached to motor A, rotate 2 full turns</span>
18     m = NXTMotor(<span class="string">'A'</span>, <span class="string">'Power'</span>, 5, <span class="string">'TachoLimit'</span>, 720)
19     m.SendToNXT();
20
21     m.WaitFor();
22
23     <span class="comment">% calibration should now be complete!</span>
24     CalibrateCompass(SENSOR_2, false);
25</pre><h2>See also<a name="14"></a></h2><p>OpenCompass, GetCompass, CloseSensor, NXT_LSRead, NXT_LSWrite</p><h2>Signature<a name="16"></a></h2><div><ul><li><b>Author:</b> Rainer Schnitzler, Linus Atorf (see AUTHORS)</li><li><b>Date:</b> 2008/08/01</li><li><b>Copyright:</b> 2007-2009, RWTH Aachen University</li></ul></div><p class="footer"><br>
26</p></div><!--
27##### SOURCE BEGIN #####
28%% CalibrateCompass
29% Enables calibration mode of the HiTechnic compass sensor
30%%
31%% Syntax
32% |CalibrateCompass(port, f_start)|
33%%
34% |CalibrateCompass(port, f_start, handle)|
35%%
36%% Description
37% Calibrate the compass to reduce influence of metallic objects,
38% especially of the NXT motor and brick on compass values.
39% You have to calibrate a roboter only once until the design changes.
40% During calibration the compass should make two full rotations very slowly.
41% The compass sensor has to be opened (using |OpenCompass|) before execution.
42%%
43% Set |f_start = true| to start calibration mode, and |f_start = false| to stop it.
44% In between those commands, the calibration (compass rotation) should occur.
45%%
46% The given |port| number specifies the connection port. The value |port| can be
47% addressed by the symbolic constants |SENSOR_1| , |SENSOR_2|, |SENSOR_3| and |SENSOR_4|
48% analog to the labeling on the NXT Brick.
49%%
50% The last optional argument can be a valid NXT handle. If none is
51% specified, the default handle will be used (call |COM_SetDefaultNXT| to
52% set one).
53%%
54%% Example
55%%
56%%
57     % compass must be open for calibration
58     OpenCompass(SENSOR_2);
59
60     % enable calibration mode
61     CalibrateCompass(SENSOR_2, true);
62
63     % compass is attached to motor A, rotate 2 full turns
64     m = NXTMotor('A', 'Power', 5, 'TachoLimit', 720)
65     m.SendToNXT();
66
67     m.WaitFor();
68
69     % calibration should now be complete!
70     CalibrateCompass(SENSOR_2, false);
71%%
72%% See also
73% OpenCompass, GetCompass, CloseSensor, NXT_LSRead, NXT_LSWrite
74%%
75%% Signature
76%%
77% * *Author:* Rainer Schnitzler, Linus Atorf (see AUTHORS)
78% * *Date:* 2008/08/01
79% * *Copyright:* 2007-2009, RWTH Aachen University
80%
81
82##### SOURCE END #####
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