Inputs

Variable name

Description

rNodeMaster

Data type: I_NodeMaster

Interface to the master function block

rItfToWheelLeft

Data type: I_InterfaceToDrive3

Interface to the left axis

rItfToWheelRight

Data type: I_InterfaceToDrive3

Interface to the right axis

xAxisDirInversionLeft

Data type: BOOL

  • TRUE: Inverts the direction of rotation of the left axis.
  • FALSE: Does not invert the direction of rotation of the left axis.

xAxisDirInversionRight

Data type: BOOL

  • TRUE: Inverts the direction of rotation of the right axis.
  • FALSE: Does not invert the direction of rotation of the right axis.

lrAxisDistance

Data type: LREAL

Unit: mm

Distance between the drive wheels