Commit 623c0ab0 authored by Nicolas Docquier's avatar Nicolas Docquier
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Add a readme file for building and using the Simulink interface

parent 4a89cfe8
# Simulink interface to Robotran/MBsysC modules
The Simulink/MBsysC interface enables to introduce a Robotran model
into a Simulink block diagram using a S-function. This document explains
how to compile and how to use this interface.
## Compiling the interface
* First, the MBsysC momdules must be compiled already
* Go to the `MBsysC/mbs_interface/mbs_simulink` folder
* Create a *build* directory: `mkdir build`
* Configure the Cmake project: `cmake ..`
* Build the interface: `make`
Those operations should produce a file *MBsysC_SF_dirdyn.mexa64* (the
extension will change depending on the OS). This file must be compiled
only once and can then be used for any project (assuming
FLAG_SEPARATE_BUILD was set to ON when building the project)
## Compiling the project
The project must be compiled as usual but **the FLAG_SEPARATE_BUILD
must be set to ON**.
## Building a Simulink block diagram with a Robotran model
* Add the `MBsysC/mbs_interface/mbs_simulink` folder to your matlab path.
In matlab: `addpath('paht/to/MBsysC/mbs_interface/mbs_simulink')`
* Create a new Simulink block diagram or poen an existing one
* Insert a S-function block from the Simulink library (it can be found in the
Simulink/User-Defined Functions). Alternatively, you can copy/paste
the block from an existing diagram such as the examples project availabl in
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 withou the extension)
* **S-function parameters**: enter the path to the *.mbs file surrounded
by single quotes
* **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
* Complete the Simulink diagram as desired
* Run the simulation
## Adding input/output ports
Custom input or output ports can be added to the block.
* Define input/output (IO) by editing the *.mbs model with a text editor (this
can not be done in MBsysPad presently). Add a *user_variables* (with s!) section or
complete the existing one (after the user_models section). Add as many
user_variable (without s) section as IO number desired as illustrated
by the following example:
```xml
<user_variable>
<user_variable>
<varname>Fsusp</varname>
<type>out</type>
<size>4</size>
</user_variable>
<user_variable>
<varname>motorTorque</varname>
<type>in</type>
<size>1</size>
</user_variable><user_variable>
```
* **varname** contains the name of the IO. The data will be
readable/editable in the code via `mbs_data->userIO->varname`.
* **type** determines wether it is an input or an output
* **size** defines the number of element in the IO. If size=1, the IO
will be a scalar (double). If size>1n the IO will be an array (double *)
* (Re-)generate the userIO.c and userIO.h files. This is done via
MBsysPad using the menu *Tools/Generate C-specific user files/All*
(check that the *user_file_generation* utility in the
`MBsysC/mbs_app` folder has been compiled before)
* Rebuild your project (the Simulink interface must NOT be rebuilt)
* Reload the simulink diagram (or simply edit the properties of the
S-function block). The new ports will then be visible.
## Status
* Simulation of several different model in the same diagram: OK
* Platform
* Linux: OK
* Windows and MacOS: not tested
* Type of building
* Separate build: OK
* Monolithic build: not tested
* Realtime features
* Not working. Should be implemented differently
* To be done
* improve integration with existing function (compute_model is duplicated)
* improve user interface (cf JFC work in MBsysLab/mbs_simulink)
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