createdryverail 2.5.5

Dryve D1 script created by 2 undergraduate robotic students of Aalborg University

Create Dryve Rail

The following library is to be used for translation along the x-axis of a track controlled by the Dryve D1. Movement of the platform along the x-axis can be done with the:

targetPosition(<point>) 

The point is set in reference to the home position set at the negative end-switch. As the end-switch's home position is then set to x = 0 at the designated home position, any input into the function is considered as relative to the universal frame set at this position. The home position will begin to be set with:

dryveInit()

To manually set this position for any reason, simply run:

homing()

To get current position of the Dryve rail, simply use:

getposition(<position (mm)>)

As indicated, the function returns position of the rail at execution in millimetres.

To set velocity profile, simply run:

velocityProfile(<velocity (mm/s)>)

Likewise, the target velocity can be set with:

targetVelocity(<velocity (mm/s)>)

The difference between velocity profile and target velocity is that targetvelocity() simply moves a set velocity until a new command is set, while velocityProfile() simply modifies the velocity setting in point to point movement.

If createdryverail contributes to a project that leads to publication, please acknowledge this by citing createdryverrail.