Jaguar lite manual

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Also you could read left and right track/wheel motor encoder in this event.

private void myJaguar_CustomSensorEvent(object sender, EventArgs e)

{

// left track motor

double tempM =

Trans2Temperature((double)myJaguar.GetCustomAD5());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp1.Text = tempM.ToString("0.00");

// right track motor

tempM = Trans2Temperature((double)myJaguar.GetCustomAD6());

tempM = double.Parse(tempM.ToString("0.00"));

lblTemp2.Text = tempM.ToString("0.00");

leftFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse4();

leftFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed4();

leftFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir4();

rightFrontWheelMotor.encoderPos = myJaguar.GetEncoderPulse5();

rightFrontWheelMotor.encodeSpeed = myJaguar.GetEncoderSpeed5();

rightFrontWheelMotor.encoderDir = myJaguar.GetEncoderDir5();

}

To stop all motor, you could use:

myJaguar.DcMotorPwmNonTimeCtrAll(16384, 16384, 16384, 16384, 16384,

16384);

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 received any data package in

5 seconds.

Laser Scanner

Laser Ranger sensor (4m version, URG-04LX) is connected to WiFi 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: 115200, 8, N, 1, no flow control, TCP, port number 10002