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1 Simulink Support for VEX Cortex BEST Robotics 2013 Sandeep Hiremath
| Date post: | 15-Dec-2015 |
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Simulink Support for VEX Cortex BEST Robotics 2013
Sandeep Hiremath
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WebEx
Chat
I was on the road and could provide my comments only this
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Outline
Intro to Simulink – Launching and Navigating through the software
– Creating a simple robot program
– Simulating and Debugging robot programs
– Advanced Logic Design 3D Virtual World Access to the software Software Installation More Training Resources
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What is Simulink?
Simulink is a software package for modeling, simulating, and testing the BEST robot program.
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Why Simulink?
• Simple Programming Interface- Easy to use interface- Graphical drag and drop- NO prior programming knowledge required
• 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
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Why Simulink?
Used in Engineering curriculum all over the world (~4000 schools) –MATLAB and Simulink
Used in many robotics, aerospace and automotive student competitions - http://www.mathworks.com/academia/student-competitions/
Many K-12 teachers are now using MATLAB and Simulink for teaching in classroom– MATLAB at Trinity Schools
View how secondary students learn science and math interactively.
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Simulink and BEST Library
BEST Robotics Library
Learn more: http://www.mathworks.com/products/demos/academia/simulink-quick-start/
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Sample Robot
3 big motors2 servosSwitch
Right motor – Left motor – Arm motor –
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Lets Build!
Tank Robot Configuration– tank2.mdl (Example model)
Your RobotJoystick Control
2 vertical axes control the 2 wheels
Robot Program / Behavior
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VEX CortexTwo Vertical Axes
Robot Program / Behavior
Two Motors
Lets Build!
Tank Robot Configuration– tank2.mdl (Example model)
Right Motor
Left Motor
Pin 2
Pin 9
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VEX Controller/Gamepad
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VEX Microcontroller
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Setup
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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
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What is Simulation?
Model ofBehavior
Simulation is the imitation of some real thing, state of affairs, or process.
What if we do this? Imitate the robot behavior What will the robot do?
Stimulus Response
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Gamepad Input to program
Sources
Sinks
deadband
0
Toggle
Terminator
Switch
Stateflow
Scope
Real Time
Manual Switch
Joystick 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
Gamepad Input
Right Speed
Lef t Speed
Field Simulator
Display
Convert
Data Type Conversion
1
Constant
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Gamepad Input to Simulink
Sources
Sinks
deadband
0
Toggle
Terminator
Switch
Stateflow
Scope
Real Time
Manual Switch
Joystick 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
Gamepad Input
Right Speed
Lef t Speed
Field Simulator
Display
Convert
Data Type Conversion
1
Constant
VEX Controller NOT supported
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Gamepad Input to Simulink
Sources
Sinks
deadband
0
Toggle
Terminator
Switch
Stateflow
Scope
Real Time
Manual Switch
Joystick 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
Gamepad Input
Right Speed
Lef t Speed
Field Simulator
Display
Convert
Data Type Conversion
1
Constant
Logitech Gamepad F310
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Gamepad Input to Simulink
Sources
Sinks
deadband
0
Toggle
Terminator
Switch
Stateflow
Scope
Real Time
Manual Switch
Joystick 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
Gamepad Input
Right Speed
Lef t Speed
Field Simulator
Display
Convert
Data Type Conversion
1
Constant
Xbox Controller!!
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BEST VEX Library
Workflow Summary
Auto Code Generation- easyC
Simulink Model
Hardware
Simulation/Testing
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Overview - BEST Library
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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
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Getting access to software
Contact your Hub Directors for DVDs 2 DVDs per team Label has a URL – Installation instructions No online download available No Paperwork 1-year full access
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Software and Installation 2 DVDs per team (Hubs get a DVD too!) Label on the DVD has installation/activation key Label has URL instructions:
www.mathworks.com/BESTInstall 1 year full access (May 2013 to May 2014)
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)
Contact: [email protected]
Labe
l
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Training Resources
Weekly WebEx training – Info on BRI home page
Video Tutorials available– www.bestinc.org > Participants > Resources
On Demand online training– – Customized for teams
– Q&A Contact
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BEST Simulink Design Award
One team per region recognized for the best robot program designed using Simulink.
Every submission – A Simulink file
– A short (fun+ technical) video
More details – Coming soon!
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Thank you!
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