pitsco TETRIX PULSE

Description Function Coding Example
Set DC Motor Speed
Uses velocity PID control to set the
constant speed of a TETRIX DC Motor
with a TETRIX motor encoder installed.
The speed parameter range is 0 to 720
degrees per second (DPS). The sign
(+/-) of the speed parameter controls
direction of rotation.
setMotorSpeed(motor#, speed);
Data Type:
motor# = integer
speed = integer
Data Range:
motor# = 1 or 2
speed = -720 to 720
setMotorSpeed(1, 360);
Spin Motor 1 clockwise at a constant
speed of 360 DPS.
setMotorSpeed(1, -360);
Spin Motor 1 counterclockwise at a
constant speed of 360 DPS.
Set DC Motor Speeds
Uses velocity PID control to
simultaneously set the constant
speeds of both TETRIX DC Motor
channels with TETRIX motor encoders
installed. Both PULSE Motor 1 and
Motor 2 channel parameters are set
with a single statement. The speed
parameter range is 0 to 720 degrees
per second (DPS). The sign (+/-) of the
speed parameter controls direction
of rotation.
setMotorSpeeds(speed1, speed2);
Data Type:
speed1 = integer
speed2 = integer
Data Range:
speed1 = -720 to 720
speed2 = -720 to 720
setMotorSpeeds(360, 360);
Spin Motor 1 and Motor 2 clockwise at a
constant speed of 360 DPS.
setMotorSpeeds(360, -360);
Spin Motor 1 clockwise and Motor 2
counterclockwise at a constant speed of
360 DPS.
setMotorSpeeds(360, -180);
Spin Motor 1 clockwise and Motor 2
counterclockwise at a constant speed of
180 DPS.
Set DC Motor Targets
Implements velocity and positional
PID control to simultaneously set the
constant speeds and the encoder
count target holding positions of
both TETRIX DC Motor channels each
with TETRIX encoders installed. Both
PULSE Motor 1 and Motor 2 channel
parameters are set with a single
statement. The speed parameter
range is 0 to 720 degrees per second
(DPS). The encoder count target
position is a signed long integer
from -2,147,483,648 to 2,147,483,647.
Each encoder count = 1/4-degree
resolution.
setMotorTargets(speed1, target1,
speed2, target2);
Data Type:
speed1 = integer
target1 = long
speed2 = integer
target2 = long
Data Range:
speed1 = 0 to 720
target1 = -2147483648 to 2147483647
speed2 = 0 to 720
target2 = -2147483648 to 2147483647
setMotorTargets(360, 1440, 360,
1440);
Spin Motor 1 and Motor 2 at a constant
speed of 360 DPS until each motor
encoder count equals 1,440. When a
motor reaches its encoder target count,
hold position in a servo-like mode.
setMotorTargets(360, 1440, 180,
2880);
Spin Motor 1 at a constant speed of 360
DPS until encoder 1 count equals 1,440.
Spin Motor 2 at a constant speed of 180
DPS until encoder 2 equals 2,880. Each
motor will hold its position in a servo-
like mode when it reaches the encoder
target.
Note: One encoder count equals
1/4-degree resolution. For example, 1
motor revolution equals 1,440 encoder
counts (1,440 / 4 = 360).
Set Motor Degree
Implements velocity and positional
PID control to set the constant speed
and the degree target holding position
of a TETRIX DC Motor with a TETRIX
encoder installed. The speed parameter
range is 0 to 720 degrees per second
(DPS). The encoder degrees target
position is a signed long integer from
-536,870,912 to 536,870,911 with a
1-degree resolution.
setMotorDegree(motor#, speed,
degrees);
Data Type:
motor# = integer
speed = integer
degrees = long
Data Range:
motor# = 1 or 2
speed = 0 to 720
degrees = -536870912 to 536870911
setMotorDegree(1, 180, 360);
Spin Motor 1 at a constant speed of 180
DPS until encoder 1 degree count equals
360. When at encoder target degree
count, hold position in a servo-like mode.
setMotorDegree(2, 90, 180);
Spin Motor 2 at a constant speed of 90
DPS until encoder 2 degree 2 equals 180.
When at encoder target degree count,
hold position in a servo-like mode.
Appendix 135