Pitsco Tetrix Max Istruzioni operative

44678

TETRIX® myRIO Programming Tools for LabVIEW™

Content advising by Paul Uttley.

SolidWorks® Composer™ and KeyShot® renderings by Tim Lankford, Brian Eckelberry, and Jason Redd.

Desktop publishing by Todd McGeorge.

restricting their use, copying, and distribution. No part of this product or related documentation may be reproduced in any

form by any means without prior written authorization of Pitsco, Inc.

All other product names mentioned herein might be the trademarks of their respective owners.

A downloadable PDF of the most recent version of this guide can be found at

https://www.pitsco.com/TETRIX-myRIO-Control-Board-Adapter.

V1.0

02/18

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions:

(1) this device may not cause harmful interference, and (2) this device must accept any interference

received, including interference that may cause undesired operation.

Overview

This document provides guidance on installation of the TETRIX® myRIO programming tools for LabVIEW™ to be used with

the TETRIX MAX DC and Servo Motor Expansion Controllers, and it gives a brief overview of each virtual instrument (VI).

You must first have installed LabVIEW and configured your myRIO. Information for installing LabVIEW for myRIO is included

with the myRIO hardware or can be accessed at www.ni.com/myrio. Please reference the instructions and resources

included with myRIO for help on completing these items. After that has been done, the TETRIX myRIO programming VIs can

be found at https://www.pitsco.com/TETRIX-myRIO-Control-Board-Adapter.

Preparing files

Download and unzip the file “TETRIX_LV_myRIO_ToolKit” to a folder on your computer. Open the folder and find the VI

Package installer. There will be a version number at the end of the file name; however, the version number can change as

new releases become available. Also included in the .zip file is a LabVIEW project with several code examples demonstrating

how to use the VI tools using LabVIEW and myRIO to control TETRIX DC motors and servos. If you are new to LabVIEW and

myRIO programming, it is recommended that you start with these examples.

Installing the programming tools

To begin installation, double-click the VI Package file. If you have not already installed the VI Package Manager software,

you will be prompted to do so. Simply follow the prompts on the screen to guide you through the process. After the VI

Package Manager software is installed, double-click the VI Package file once more to start the installation of the tools.

Follow the prompts on the screen to complete the installation. After the installation is finished, the installed TETRIX myRIO

programming VIs can be located on the LabVIEW functions palette.

Each of these VIs can be used to construct a LabVIEW

program for controlling a TETRIX robot equipped with

TETRIX DC and Servo Motor Expansion Controllers and

myRIO. An adapter interface board developed by Pitsco

and included in each WRO TETRIX myRIO bundled kit

must be used to ensure proper connection and i2C

communication between the TETRIX expansion motor

controllers and the myRIO controller.

Connecting controllers

The TETRIX motor expansion controllers connect via the Pitsco adapter to the i2C bus of the myRIO controller. The motor

controllers are connected in a daisy chain hookup with the first controller in the chain designated as Position 1. Subsequent

controllers are set to Positions 2, 3, and 4. A maximum of four controllers can be connected in a single daisy chain to each

myRIO MXP port.

+3.3 V expansion

port

Built-in logic-level

shifting circuit

for connection

of TETRIX motor

controllers to NI

myRIO i2C bus

LEGO data-style i2C port connector

for connection of TETRIX motor

controllers

2x Grove sensor

family connections

GND expansion

port

34-pin NI myRIO I/O

expansion port

+5 V expansion

port

34-pin MXP connector to NI myRIO

2x Grove sensor

family connections

The i2C connection cables are the LEGO® data-style cables, which are included with each motor controller. Power to the

myRIO is fed from the open battery position terminals on the last controller box in the daisy chain. A DC-barrel-jack-to-

terminal adapter is included in each WRO TETRIX myRIO bundled set.

To connect power, attach a red jumper wire between the positive terminals on the motor controller battery terminal

strip and the DC barrel jack adapter, and then attach a black jumper wire between the negative terminals on the motor

controller and DC barrel jack adapter. Plug the DC barrel jack into the myRIO power input port. This will provide battery

power to the myRIO controller.

Typical hookup diagram. Multiple controllers may be daisy-chained together.

Overview of TETRIX myRIO VIs

A VI is a programming tool in LabVIEW that models the appearance and function of a physical instrument. VIs can exist at

multiple levels. Smaller VIs can be combined to create larger VIs. The following blocks are smaller VIs created specifically to

access the TETRIX motor expansion controllers and will be used to create larger VIs that control your robots. The bullets are

terminal inputs and outputs that define the paramenters of the VI.

Section 1: DC Motor Expansion Controller VIs

TETRIX Enable DC Expansion Controller

Initializes and enables the DC motor expansion controller. Place this VI at the beginning of the program.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

TETRIX Set Motor Power

Sets the motor power level parameter for the selected DC motor channel.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

• Select Channel – This selects Motor 1 or Motor 2.

• Power (-100 to 100) – This sets the motor power level parameter for the selected channel. Range is -100 to 100.

The +/- sign controls the direction of motor rotation. Setting the power level to 0 stops the motor in a coast mode.

Setting the power level to 125 stops the motor in a braking mode.

TETRIX Enable DC Expansion Controller

[TETRIX_Enable_DC_Controller_myRIO.vi]

myRIO MXP Port A/B

Error/Flow In

Controller ID# (i2C Address)

Error/Flow Out

TETRIX Set Motor Power

[TETRIX_Set_Motor_Power_myRIO.vi]

myRIO MXP Port A/B

Error/Flow In

Controller ID# (i2C Address)

Select Channel

Power (-100 to 100) 0 = Co...

Error/Flow Out

TETRIX Set Motor Power(s)

Simultaneously sets the motor power level parameter for each DC motor channel.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

• Motor 1 Power (-100 to 100) – This sets the motor power level parameter for DC motor channel 1. Range is -100

to 100. The +/- sign controls the direction of motor rotation. Setting the power level to 0 stops the motor in a coast

mode. Setting the power level to 125 stops the motor in a braking mode.

• Motor 2 Power (-100 to 100) – This sets the motor power level parameter for DC motor channel 2. Range is -100

to 100. The +/- sign controls the direction of motor rotation. Setting the power level to 0 stops the motor in a coast

mode. Setting the power level to 125 stops the motor in a braking mode.

TETRIX Set Motor Speed

Sets the constant speed parameter for the selected DC motor channel. This VI uses the motor encoder to implement

constant-speed PID control.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

• Select Channel – This selects Motor 1 or Motor 2.

• Constant Speed – This sets the constant speed parameter for the selected channel. The constant speed parameter

is set in degrees per second. The maximum speed that can be set depends on the type of rpm and gearing of

the motor. For best constant-speed PID performance, a maximum speed setting of about 75% of the full motor

rpm rating is recommended. For the TETRIX TorqueNADO™ motor, the maximum constant speed parameter is

approximately 450 degrees per second.

TETRIX Set Motor Speed

[TETRIX_Set_Motor_Speed_myRIO.vi]

myRIO MXP Port A/B

Error/Flow In

Controller ID# (i2C Address)

Select Channel

Constant Speed (Degrees per...

Error/Flow Out

TETRIX Set Motor Power(s)

[TETRIX_Set_Motor_Power(s)_myRIO.vi]

myRIO MXP Port A/B

Error/Flow In

Controller ID# (i2C Address)

Motor 1 Power (-100 to 100)

Motor 2 Power (-100 to 100)

Error/Flow Out

TETRIX Set Motor Speed(s)

Simultaneously sets the constant speed parameter for each DC motor channel. This VI uses motor encoders to implement

constant-speed PID control.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

• Motor 1 Speed – This sets the constant speed parameter for motor channel 1. The constant speed parameter is set

in degrees per second. The maximum speed that can be set depends on the type of rpm and gearing of the motor.

For best constant-speed PID performance, a maximum speed setting of about 75% of the full motor rpm rating is

recommended. For the TETRIX TorqueNADO motor, the maximum constant speed parameter is approximately 450

degrees per second.

• Motor 2 Speed – This sets the constant speed parameter for motor channel 2. The constant speed parameter is set

in degrees per second. The maximum speed that can be set depends on the type of rpm and gearing of the motor.

For best constant speed PID performance, a maximum speed setting of about 75% of the full motor rpm rating is

recommended. For the TETRIX TorqueNADO motor, the maximum constant speed parameter is approximately 450

degrees per second.

TETRIX Set Motor Target

Sets the constant speed and encoder target parameters for the selected DC motor channel. This VI uses the motor encoder

to implement constant velocity and position hold control.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

• Select Channel – This selects Motor 1 or Motor 2.

• Encoder Units – This sets the target units as either degrees or encoder counts. For the TETRIX TorqueNADO motor

encoder, 1 encoder count is equal to 1/4 degree. When using encoder counts, 1,440 counts equal 360 degrees, or

one full motor shaft revolution.

• Constant Speed – This sets the constant speed parameter for the selected channel while it is moving to the encoder

target. The constant speed parameter is set in degrees per second. The maximum speed that can be set depends

on the rpm of the motor being controlled. For best constant-speed PID performance, a maximum speed setting of

about 75% of the full motor rpm rating is recommended. For the TETRIX TorqueNADO motor, the maximum constant

speed parameter is approximately 450 degrees per second.

• Motor Encoder Target – This sets the targeting parameter for the DC motor channel. Depending on the encoder

units selected, this parameter can be expressed in degrees or encoder counts.

TETRIX Set Motor Speed(s)

[TETRIX_Set_Motor_Speed(s)_myRIO.vi]

myRIO MXP Port A/B

Error/Flow In

Controller ID# (i2C Address)

Motor 1 Speed (Degrees per...

Motor 2 Speed (Degrees per...

Error/Flow Out

TETRIX Set Motor Target

[TETRIX_Set_Motor_Target_myRIO.vi]

Constant Speed (Degrees per...

myRIO MXP Port A/B

Error/Flow In

Controller ID# (i2C Address)

Select Channel

Encoder Units

Motor Encoder Target

Error/Flow Out

TETRIX Set Motor Target(s)

Simultaneously sets the constant speed and encoder target parameters for each DC motor channel. This VI uses motor

encoders to implement constant velocity and position hold control.

• myRIO MXP Port A/B – the myRIO MXP port to which the adapter board is connected

• Error/Flow In – program execution flow in from previous VI block

• Error/Flow Out – program execution flow out to next VI block

• Controller ID# – This is the ID#/i2C address of the expansion controller. Valid range is 1-120; however, 5 and 6 are

reserved and cannot be used. The default ID# for the DC motor expansion controller is 1.

• Encoder Units – This sets the target units as either degrees or encoder counts. For the TETRIX TorqueNADO motor

encoder, 1 encoder count is equal to 1/4 degree. When using encoder counts, 1,440 counts equal 360 degrees, or

one full motor shaft revolution.

• Motor 1 Constant Speed – This the constant speed parameter for DC motor channel 1 while it is moving to the

encoder target. The constant speed parameter is set in degrees per second. The maximum speed that can be set

depends on the type of rpm and gearing of the motor. For best constant-speed PID performance, a maximum

speed setting of about 75% of the full motor rpm rating is recommended. For the TETRIX TorqueNADO motor, the

maximum constant speed parameter is approximately 450 degrees per second.

• Motor 2 Constant Speed – This sets the constant speed parameter for DC motor channel 2 while it is moving to

the encoder target. The constant speed parameter is set in degrees per second. The maximum speed that can be

set depends on the type of rpm and gearing of the motor. For best constant-speed PID performance, a maximum

speed setting of about 75% of the full motor rpm rating is recommended. For the TETRIX TorqueNADO motor, the

maximum constant speed parameter is approximately 450 degrees per second.

• Motor 1 Encoder Target – This sets the targeting parameter for DC motor channel 1. Depending on the encoder

units selected, this parameter can be expressed in degrees or encoder counts.

• Motor 2 Encoder Target – This sets the targeting parameter for DC motor channel 2. Depending on the encoder

units selected, this parameter can be expressed in degrees or encoder counts.

TETRIX Set Motor Target(s)

[TETRIX_Set_Motor_Target(s)_myRIO.vi]

Motor 2 Encoder Target

Motor 1 Encoder Target

myRIO MXP Port A/B

Controller ID# (i2C Address)

Error/Flow In

Encoder Units

Motor 1 Constant Speed (Degrees per...

Motor 2 Constant Speed (Degrees per...

Error/Flow Out

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