BEST Robotic, Inc. MATLAB/Simulink Team Training. Programming With MATLAB/Simulink BISON BEST. September 20th, 2013

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1 BEST Robotic, Inc. MATLAB/Simulink Team Training Programming With MATLAB/Simulink September 20, 2013 BISON BEST 1 What You ll Need Minimum System Requirements Microsoft Windows XP or Later 32-bit or 64-bit machine Administrator Access on the PC Internet connection DVD drive Software required MATLAB R2013a provided on DVD - only one side Intellitek EasyC V4 StudentCompetitionInstaller.exe downloaded from BESTRoboticsInstaller_1.1.5.exe downloaded from September 20th, 2013 Bison BEST 2

2 Installation Follows instruction at Insert the MATLAB DVD in your computer; if the autoinstaller runs, you MUST STOP it. Run StudentInstaller.exe downloaded from mathworks website You will be required to enter the installation key provided on your DVD At the end of the installation, you must register and activate your MATLAB at Mathworks.com. For immediate results, do it by internet. You will be required nto enter the activation key provided on your DVD Run BESTRoboticsInstaller_1.5.1.exe downloaded from mathworks website. 3 Key Software Locations 4

3 Starting MATLAB Click on the MATLAB r2013a link 5 starting MATLAB command window opens along with the BEST Robotics Library menu 6

4 Something on MATLAB 7 MATLAB- Command Window A semicolon prevents echoing 8

5 MATLAB scripting 9 MATLAB scripting A script is a text file; It can be written using any text editor. Save with an extension.m To run the script, just type its name in the MATLAB command window. 10

6 MATLAB Simulink Simulink is MATLAB s graphical programming interface. Programming is accomplished by connecting various graphical icons in a specific order. Simulink graphical icons are collected in what are known as Libraries. To write a Simulink program (or Model), first open the Simulink Library collections 11 Creating a new Simulink Model 12

7 Simulink 13 Simulink BEST Library 14

8 Simulink BEST Robot Model The robot can be driven either in Tank or in Arcade mode. The joystick has four analog channels and four digital channels The controller can drive Up to 10 motors and servos in analog mode Up to 4 servos in digital mode Can read up to 8 analog sensors (such as potentiometers) Can read up to 8 digital sensors (such as limit switches) Simulink library has an icon for each of the possible functions: to read the joystick, to drive motors and servos, and to read sensors 15 Creating a Robot Program Open a robot model window by clicking the Open new model button on the BEST Robotics Library window. September 20th, 2013 Bison BEST 16

9 The BEST Robot Model 17 Reading the Joystick Accelerometer rotate left limit - The joystick and accelerometer limit return values are + and - as shown in the figure. The buttons have a return value of 0 when pressed and 1 when released Accelerometer rotate forward limit + X Axis Accelerometer rotate back limit + Y Axis Accelerometer rotate right limit + 18

10 September 20th, Bison BEST 20

11 Actuating Motors and Servos 21 22

12 23 Other Model Functions 24

13 Bring as Many Functions as Needed, and Connect 25 Now, Set the Channels 26

14 After Building the Model Save the simulink model file You may want to Simulate the model before downloading into your Vex Controller

15 Simulating the Arcade 29 Simulation Control 30

16 After Simulation Remove all simulation signals Save your model file Compile the model to generate C-codes 31 After compiling, MATLAB automatically opens EasyC loaded with the Simulink generated C-codes September 20th, 2013 Bison BEST 32

17 Compile and Download in your Robot Compile Project Build and Download September 20th, 2013 Bison BEST 33 Bison BEST 34 Additional support ware-support/vex.html September 20th, 2013

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