MAP_GetOutputModule
Reads the IO map of the output module
Contents
Syntax
map = MAP_GetOutputModule(motor)
Description
map = MAP_GetOutputModule(motor) returns the IO map of the output module at the given motor port. The motor port can be addressed by MOTOR_A, MOTOR_B, MOTOR_C and 'all'. The return value map is a struct variable or cell array ('all' mode). It contains all output module information.
Output:
map.TachoCount % internal, non-resettable rotation-counter (in degrees)
map.BlockTachoCount % block tacho counter, current motor position, resettable using, ResetMotorAngle (NXT-G counter since block start)
map.RotationCount % rotation tacho counter, current motor position (NXT-G counter since program start)
map.TachoLimit % tacho/angle limit, 0 means none set
map.MotorRPM % current pulse width modulation ?
map.Flags % should be always ''. Flags are considered in MAP_SetOutputModule.
map.Mode % output mode bitfield 1: MOTORON, 2: BRAKE, 4: REGULATED
map.ModeName % output mode name interpreted by output mode bitfield
map.Speed % motor power/speed
map.ActualSpeed % current actual percentage of full power (regulation mode)
map.RegPParameter % proportional term of the internal PID control algorithm
map.RegIParameter % integral term of the internal PID control algorithm
map.RegDParameter % derivate term of the internal PID control algorithm
map.RunStateByte % run state byte
map.RunStateName % run state name interpreted by run state byte
map.RegModeByte % regulation mode byte
map.RegModeName % regulation mode name interpreted by regulation mode byte
map.Overloaded % overloaded flag (true: speed regulation is unable to onvercome physical load on the motor)
map.SyncTurnParam % current turn ratio, 1: 25%, 2:50%, 3:75%, 4:100% of full volume
Examples
map = MAP_GetOutputModule(MOTOR_A);
map = MAP_GetOutputModule('all');
See also
Signature
- Author: Alexander Behrens (see AUTHORS)
- Date: 2008/05/22
- Copyright: 2007-2010, RWTH Aachen University