LabVIEW LEGO MINDSTORMS NXT Module Programming Guide Manual

LabVIEW LEGO MINDSTORMS NXT Module Programming Guide Manual
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LabVIEW LEGO MINDSTORMS NXT Module Programming Guide Manual

  • Chapter 2Extensions to LabVIEWLabVIEW LEGO MINDSTORMS NXT Module2-24ni.comRegModeU8NXTOutput: read-writeNXTOutputMulti: write-onlyOptionalInteractive motors onlyLegal Values:This property specifies the regulation mode to use with the specified port(s).This property is ignored if you do not set the REGULATED bit in the Mode property. Unlike the Mode property, RegMode is not a bitfield. You can set only one RegMode value at a time.Speed regulation means that the NXT firmware attempts to maintain a certain speed according to the Power set-point. To accomplish this, the NXT firmware automatically adjusts the actual PWM duty cycle if the motor is affected by a physical load. This automatic adjustment is reflected by the value of the ActualSpeed property.Synchronization means that the firmware attempts keep any two motors in synch regardless of varying physical loads. A common usage of this mode is to maintain a straight path for a vehicle robot automatically, but you also can use this mode with the TurnRatio property to provide proportional turning. You must set REG_SYNC on at least two motor ports to have the desired affect. If REG_SYNC is set on all three motor ports, only the first two, A and B, are synchronized.ValueEnumDescription0x00REG_IDLEDisables regulation0x01REG_SPEEDEnables speed regulation0x02REG_SYNCEnables synchronization between any two motors