Simulink Support for VEX Cortex BEST Robotics Sandeep Hiremath
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1 Simulink Support for VEX Cortex BEST Robotics 2012 Sandeep Hiremath 1
2 I was on the road and could provide my comments only this WebEx Chat 2
3 Outline Intro to Simulink Simulink software support for VEX Launching and Navigating through the software Creating a simple robot program Simulating and Debugging robot programs Advanced Programming Access to the software Software Installation More Training Resources 3
4 What is Simulink? Simulink is a software package for modeling, simulating, and testing the BEST robot program. 4
5 Why Simulink? Simple Programming Interface - Easy to use interface - Graphical drag and drop More Efficient Design Flow - Parallel development - No waiting for robot to be built Simulation and Debug - Test your program without hardware - What-if scenarios are easy Advanced Programming also - Stateflow - Embedded MATLAB code 5
6 Lets Build! Tank Robot Configuration tank2.mdl (Example model) 2 vertical axes control the 2 wheels Joystick Control Your Robot Robot Program / Behavior 6
7 Lets Build! Tank Robot Configuration tank2.mdl (Example model) Two Vertical Axes VEX Cortex Two Motors Right Motor Pin 2 Pin 9 Left Motor Robot Program / Behavior 7
8 New terms Simulink model robot program Block command or function Library group of blocks or commands Generate code - Auto generate C code from the Simulink model Run a Simulink model Simulate a program on PC 8
9 What is Simulation? Simulation is the imitation of some real thing, state of affairs, or process. Stimulus Model of Behavior Response What if we do this? Imitate the robot behavior What will the robot do? 9
10 Gamepad Input to program Convert Manual Switch Switch Data Type Conversion Real Time Stateflow deadband Sources Gamepad Input Analog_1 Analog_2 Analog_3 Analog_4 D8_lef t D8_down D8_right D8_up D5_up D6_up D5_down D6_down D7_up D7_right D7_down D7_lef t Gamepad Input Sinks Joystick Input 1 Constant 0 Toggle Scope Display Terminator Right Speed Lef t Speed Field Simulator 10
11 Gamepad Input to Simulink Convert Manual Switch Switch Data Type Conversion Real Time Stateflow deadband Sources VEX Controller NOT supported Gamepad Input Analog_1 Analog_2 Analog_3 Analog_4 D8_lef t D8_down D8_right D8_up D5_up D6_up D5_down D6_down D7_up D7_right D7_down D7_lef t Gamepad Input Joystick Input 1 Constant 0 Toggle Sinks Scope Display Terminator Right Speed Lef t Speed Field Simulator 11
12 Gamepad Input to Simulink Convert Manual Switch Switch Data Type Conversion Real Time Stateflow deadband Sources Gamepad Input Analog_1 Analog_2 Analog_3 Analog_4 D8_lef t D8_down D8_right D8_up D5_up D6_up D5_down D6_down D7_up D7_right D7_down D7_lef t Gamepad Input Sinks Joystick Input 1 Constant 0 Toggle Scope Display Terminator Right Speed Lef t Speed Field Simulator Logitech Gamepad F310 12
13 Gamepad Input to Simulink Convert Manual Switch Switch Data Type Conversion Real Time Stateflow deadband Sources Gamepad Input Analog_1 Analog_2 Analog_3 Analog_4 D8_lef t D8_down D8_right D8_up D5_up D6_up D5_down D6_down D7_up D7_right D7_down D7_lef t Gamepad Input Sinks Joystick Input 1 Constant 0 Toggle Scope Display Terminator Right Speed Lef t Speed Field Simulator Xbox Controller!! (shiremat@mathworks.com) 13
14 Workflow Summary Simulation/Testing Simulink Model Hardware BEST VEX Library Code Generation- easyc 14
15 Overview - BEST Library 15
16 Advanced Programming Stateflow Demo: Tank2withGear.mdl Aracde2withGear.mdl Blocks: Latch Gear Transmission Using Embedded MATLAB function block New!! Demo: Teank2withGear_EML.mdl Blocks: Utilities library -> MATLAB Function 16
17 Access to software Contact your Hub Directors for DVDs 2 DVDs per team Each team has 10 installations Label has a URL Installation instructions No online download available No Paperwork 1-year access 17
18 Installation Label on the DVD has a web address (URL) and installation/activation keys Go to the URL on your PC and FOLLOW the instructions there to install the software 2 steps = 2 installers (install both as per instructions) System Requirements: Windows XP or later version (Vista, 7) Could be 32-bit or 64-bit machines Need easy C to download the program to VEX hardware (easyc Cortex V4) 18
19 Training Resources Weekly WebEx training Info on BRI home page Video Tutorials available > Participants > Resources Custom training for teams Contact 19
20 Thank you! 20
21 22
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