DrRobot Jaguar Guía de usuario descargar pdf (Pagina 23)

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V.19.01.12

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myJaguar.DcMotorPositionTimeCtr(0, 2000, 2000);

Using velocity control, move motor at encoder speed 200, you could use:

myJaguar.DcMotorVelocityNonTimeCtrAll(200,NOCONTROL,NOCONTROL,NOCONTROL

,NOCONTROL,NOCONTROL);

myJaguar.DcMotorVelocityNonTimeCtr(0,200);

For track/wheel motor control, we use differential-drive mode. Under this mode, PWM channel 3 is forward

power and PWM 4 is turning power.

To move forward with full power

myJaguar.DcMotorPwmNonTimeCtr(3,0);

To move backward with full power

myJaguar.DcMotorPwmNonTimeCtr(3,32767);

To turn left with full power

myJaguar.DcMotorPwmNonTimeCtr(4,0);

To turn right with full power

myJaguar.DcMotorPwmNonTimeCtr(4,32767);

To control head lights, using expanded IO port bit7.

Turn off light:

myJaguar.SetCustomDOUT(expandedIO & 0x7f);

Turn on light: myJaguar.SetCustomDOUT(expandedIO | 0x80);

Software watchdog: The system will automatically stop all the motors if it does not receive any data package in 5

seconds.

Laser Scanner

Laser Ranger sensor (4m version, URG-04LX) is connected to Ethernet module–1 port 2 after voltage level

conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.60.

Default settings for the serial port are: 19200, 8, N, 1, no flow control, TCP, port number 10002.

Date and communication protocol could be found in “URG-04LX commspec_eg.pdf”.

GPS

GPS sensor output interface is RS232 serial port, and connected to Ethernet module-2 port 2 after voltage level

conversion. You could access the sensor data via TCP socket at port 10002 with IP 192.168.0.61.

Default settings for the serial port are: 115200, 8, N, 1, no flow control, TCP, port number 10002

NMEA 0183 sentence is described in file “GPS18x_TechnicalSpecifications.pdf”. GPS configuration tool is

SNSRXCFG_200.exe.

9 DOF IMU (Gyro/Accelerometer/Compass)

The output interface for this IMU sensor module is serial port. It is connected to Ethernet module-2 port 1. You

could read from this sensor via TCP port 10001 at IP 192.168.0.61. Serial Port Settings: 57600, 8, N, 1, no flow

control, TCP, port number 10001. The sensor output rate is 50Hz (20ms) with output format of ASICII.

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DrRobot Jaguar Guía de usuario Pagina 23