Commands

takeFirst_MessageA

Get the next MessageA message from the message buffer.

Syntax

 A = takeFirst_MessageA(n)

Description

A = takeFirst_MessageA(n) returns a matrix of order 1:6 containing the motor readings of motor n. n in [0;3].

A(1) is the motor id in the range [0;3]

A(2) is the time of measurement

A(3) is the speed set-point

A(4) the motor's actual speed

A(5) the motor's current (raw value from the 12bit AD converter )

A(6) the motor's control point

If no MessageA for motor n is available or if n is out of range the return value is zeros(1,6)-1.

Examples

>> takeFirst_MessageA(0)

ans =

     0    13585318         100           98           1298           26

>> takeFirst_MessageA(12)

ans =

    -1    -1    -1    -1    -1    -1