Commit 3f36d689 authored by Sébastien Timmermans's avatar Sébastien Timmermans
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Update interface_simulink.md

parent 072934af
......@@ -67,22 +67,22 @@ The symbolic files must be generated from MBsysPad in "C" language (rather than
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:
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
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
......
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