Roomba Wait Distance
Waits until Roomba has traveled the specified distance in mm.
Library
QUARC Targets/Devices/Third-Party/iRobot/Roomba/Interfacing
Description
The Roomba Wait Distance block causes the robot to wait until it has traveled the specified distance in mm. When Roomba travels forward, the distance is incremented. When Roomba travels backward, the distance is decremented. If the wheels are passively rotated in either direction, the distance is incremented. Until Roomba travels the specified distance, its state does not change, nor does it react to any inputs, serial or otherwise.
This command is available in Passive, Safe, or Full operating mode of Roomba (see Roomba Modes block). Execution of this command does not change current Roomba operating mode. This command resets the angle variable that is returned by Roomba Sensor Request, Roomba Query List, and Roomba Sensor Stream blocks.
Important Notes
Use System Timebase
block in Normal simulation.
Input Ports
rmb
A reference to the Roomba stream (see Roomba Initialize block).
vel
16-bit signed velocity in mm/s. The maximum forward and backward velocities are 500 mm/s and -500 mm/s, respectively.
rad
16-bit signed radius of curvature in mm. The maximum counterclockwise and clockwise radii of curvature are 2000 mm and -2000 mm, respectively.
Special cases:
ang
16-bit signed distance in mm.
Output Ports
rmb
A reference to the Roomba stream, which is the same as input Roomba stream reference. It helps creating a daisy chain of Roomba blocks.
err
Parameters and Dialog Box
Sample time
The sample time of the block. A sample time of 0 indicates that the block will be treated as a continuous time block. A positive sample time indicates that the block is a discrete time block with the given sample time. A sample time of -1 indicates that the block inherits its sample time.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
Use System Timebase. |
See Also
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