DrRobot Jaguar Betriebsanweisung PDF herunterladen (Seite 22)

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V20.12.14

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You could read board voltage(5V) and battery voltage in standard sensor Event.

private void myJaguar_StandardSensorEvent(object sender, EventArgs e)

{

boardVol = ((double) myJaguar.GetSensorBatteryAD1() / 4095 * 9);

motVol = ((double) myJaguar.GetSensorBatteryAD2() / 4095 *

34.498);

}

You could read motor temperature sensor in custom sensor event, function Trans2Temperature() is based on the

sensor specification to translate AD value to temperature (in celcius degree).

Also you could read left/right wheel motor encoder in this event.

private void myJaguar_CustomSensorEvent(object sender, EventArgs e)

{

// front left track motor

double tempM =

Trans2Temperature((double)myJaguar.GetCustomAD5());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp1.Text = tempM.ToString("0.00");

// front right track motor

tempM = Trans2Temperature((double)myJaguar.GetCustomAD6());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp2.Text = tempM.ToString("0.00");

// rear left track motor

tempM = Trans2Temperature((double)myJaguar.GetCustomAD7());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp3.Text = tempM.ToString("0.00");

// rear 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);

For track/wheel motor control, we use independ-drive mode. Under this mode, PWM channel 3 is driving Left

front wheel motor, PWM channel 4 is driving right front motor, PWM channel 0 is driving left rear motor and

PWM channel 1 is driving right front mtoor.

To move forward with full power

myJaguar.DcMotorPwmNonTimeCtrAll(32767,0,NOCONTROL,32767,0,NOCONTROL);

To move backward with full power

myJaguar.DcMotorPwmNonTimeCtrAll(0,32767,NOCONTROL,0,32767,NOCONTROL);

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