Commit 072934af authored by Sébastien Timmermans's avatar Sébastien Timmermans
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CHANGELOG and README simulink [CI-SKIP]

parent 6bd26dc5
......@@ -31,7 +31,9 @@
* [Template] user_ExtForces documentation improved.
* [DEV] files updated to respect pep8 (except for E116, E126, E127, E402, E501, E722, E743, W503, W504)
* [DOC] files updated to respect numpydoc style (with spyder 4 lining)
* [Simulink] Inverse dynamics module added, basic use.
* [useful functions] two added :
* `pick_and_place_dvec_1 : dest[index[i]] = src[i];` (also exist for vec_0)
* `slct_dvec_1 : dest[i] = src[index[i]];` (previously only exist for vec_0)
......
......@@ -60,16 +60,29 @@ The symbolic files must be generated from MBsysPad in "C" language (rather than
the `MBsysC/mbs_interface/mbs_simulink` folder.
* Double-click on the S-function block and edit the propeties as follows:
* **S-function name**: type `MBsysC_SF_dirdyn` (the name of the compiled
file without the extension)
file without the extension)
You can choose between `MBsysC_SF_dirdyn` (direct dynamics) or `MBsysC_SF_invdyn` (inverse dynamics). Be careful that the parameters may change between modules.
* **S-function parameters**: enter the path to the *.mbs file surrounded
by single quotes plus ` ,'' ` (for example, it gives ` '../dataR/test_simulink.mbs','' `). Note that the relative path will depend of your **matlab current folder (i.e. workspace ! )** !
by single quotes plus ` ,'' ` (for example, it gives ` '../dataR/test_simulink.mbs','' `). Note that the relative path will depend of your **matlab current folder (i.e. workspace ! )** !
The number of parameters that you enter here (between each comma) must be the number of parameter of the Robotran module (3 for dirdyn, 2 for invdyn). This is defined in `MBsysC/mbs_interface/mbs_simulink/src/mbs_sf_def.h`
* **S-function modules**: keep the default setting
* Connect the input/port of the block to the diagram:
* 1st input is ...
* 2nd input is ...
* 1st output contains the joint positions
* 2nd output contains the joint velocities
* 3rd output contains the joint accelerations
for dirdyn :
* 1st input is ...
* 2nd input is ...
* 1st output contains the joint positions
* 2nd output contains the joint velocities
* 3rd output contains the joint accelerations
for invdyn:
* 1st input is q
* 2nd input is qd
* 3rd input is qdd
* 4th input is Qq
* 1st output contains the Qa
* 2nd output contains the Qc
* 3rd output contains the joint positions
* 2nd output contains the joint velocities
* 3rd output contains the joint accelerations
* Complete the Simulink diagram as desired
* Run the simulation
......@@ -137,3 +150,5 @@ Note that for windows, the MBS project (ex. PendulumSpringC) needs to be compile
* To be done
* improve integration with existing function (compute_model is duplicated)
* improve user interface (cf JFC work in MBsysLab/mbs_simulink)
*invdyn still in development !
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