Example Code
Products and Environment
This section reflects the products and operating system used to create the example.To download NI software, including the products shown below, visit ni.com/downloads.
- LabVIEW
Software
Code and Documents
Attachment
Description
Overview
This is an extension to my colour tracking project - myTracker. I used this Servo Easing algorithm on two servos in a pan/tilt mechanism in order too smoothen their movement, as they appeared to be "jerky" and made the colour tracking with the mechanism much harder than it had to be. The source of the algorithm can be found here.
Servo Easing is whenservos change their position gradually, first changing quickly and slowing down near the target position in order to make the movement smooth.
Description
The position values here range from 0.01 to 0.99 as you would provide the PWM terminals on a myRIO. The user has the ability to set the initial position target as well as change the target in order to observe how the position changes over time. The example code initially has a 100ms delay in order to make it easier to see the dynamic behaviour of the algorithm, the delay can be set to 0 ms in order to see how the position would change in near real-time conditions. It is worth noting that the time in the code cannot have a a resolution finner than 1ms due to OS limitations, for example, being run on Windows.
Below you have the easing algorithm and an example that helps to visualise what the algorithm does.
Requirements
Software:
LabVIEW 2014(or compatible)
Steps to Implement or Execute Code
- Download the .zip file
- Set your desired configuration (a, x1, x2, degrees, etc)
- Run the VI
Additional Information or References
VI Block Diagram
**This document has been updated to meet the current required format for the NI Code Exchange.**
Example code from the Example Code Exchange in the NI Community is licensed with the MIT license.
