DrRobot Jaguar Betriebsanweisung PDF herunterladen (Seite 22)

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V.19.01.12

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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 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 and right track/wheel motor encoder in this event.

private void myJaguar_CustomSensorEvent(object sender, EventArgs e)

{

// front arm motor temperature

double tempM =

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

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

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

// left track motor

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

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

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

// 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);

To control arm motor using PWM control with value 32767 (full PWM) you could use:

myJaguar.DcMotorPwmNonTimeCtrAll(32767,NOCONTROL, NOCONTROL, NOCONTROL,

NOCONTROL, NOCONTROL);

myJaguar.DcMotorPwmNonTimeCtr(0,32767);

Using position control, move motor to encoder position 2000 in 2000 ms, you could use:

myJaguar.DcMotorPositionTimeCtrAll(2000,NOCONTROl,NOCONTROL,NOCONTROL,N

OCONTROL, NOCONTROL, 2000);

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