BEST Robotic, Inc. MATLAB/Simulink Team Training Programming With MATLAB/Simulink

BEST Robotic, Inc. MATLAB/Simulink Team Training Programming With MATLAB/Simulink September 20, 2014 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 Software required MATLAB R2014a free version available at http://www.mathworks.com/academia/student-competitions/best-robotics/ Registration and application required; approval expected in three days! Installation instructions will be provided in the approval email Associate to your license to your registered account Download and install MATLAB from the link provided (about 40 minutes) Activate the software Install the VEX Support Package and Companion App (about 15 minutes) September 20 th, 2014 Bison BEST 2

Something on MATLAB MATLAB Window Opens: MATLAB means Matrix Laboratory. It is textural programming environment. It can execute commands directly as typed in the command window or run a script code from a saved file August 1, 2010 Copyright 2010 BEST Robotics, Inc. All rights reserved. 5

.Best Robotics tools Choose VEX Companion September 20 th, 2014 Bison BEST 7

Using VEX Support Mathworks VEX support is embedded in Simulink, which is accessed using the following interface September 20 th, 2014 Bison BEST 8

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. Simulink programs are known as Models The Simulink Library collection is opened by clicking the Simulink library icon August 1, 2010 Copyright 2010 BEST Robotics, Inc. All rights reserved. 9

Simulink VEX Library To open Simulink VEX Library, Click Open Library NOTE: The Library window may be hidden far to the right of your screen September 20 th, 2014 Copyright 2010 BEST Robotics, Inc. All rights reserved. 10

Before Creating your Program You must know what you want to achieve The connection layout of motors and servos to the Cortex controller. The assignment of Joystick keys and their intended control functions. How the joysticks will control the motors and servos Any other interaction between the Cortex controller and the hardware such as sensors September 20 th, 2014 Bison BEST 11

The Typical 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. Our example robot will run in arcade driven by two motors; there will be two actuator motors, one with a limit switch and four servos Analog joysticks to motors and digital sticks to servos September 20 th, 2014 Copyright 2010 BEST Robotics, Inc. All rights reserved. 12

Creating a Simulink Robot Program Open a robot model window by clicking the Create new model button on the VEX Support Package Companion menu September 20 th, 2014 Bison BEST 13

Reading the Joystick Signals 4 Analog Signals 4 Digital Signals 4 Accelerometer Signals Accelerometer rotate left limit - 127 The joystick and accelerometer limit return values are +127 and -127 as shown in the figure. The buttons have a return value of 0 when pressed and 1 when released. - 127 + 127 + 127-127 + 127 + 127 Accelerometer rotate forward limit + 127 Accelerometer rotate back limit - 127-127 - 127 X Axis Y Axis Accelerometer rotate right limit + 127 September 20 th, 2014 Copyright 2010 BEST Robotics, Inc. All rights reserved. 15

Start building your robot Click and drag one Game pad button and one one game pad joystick. September 20 th, 2014 Bison BEST 17

robot building Make four copies of gamepad joystick and four copies of gamepad buttons September 20 th, 2014 Bison BEST 18

Contents of the Utilities module September 20 th, 2014 Bison BEST 23

Motors Drag the Arcade module into your model. Connect two motors and two analog joysticks as Drag the two digital inputs (to serve as limit switches) and one Limit switch control block in the model. Connect the motor, limit switch and joystick September 20 th, 2014 Bison BEST 24

Channles for the Digital Input Limit Switches September 20 th, 2014 Bison BEST 27

Working with Digital Joysticks Analog joysticks spits numbers from -127 to +127, i.e. while digital joysticks spits only two numbers, 0 and 1. Therefore, digital joystick commands are ON and OFF only, there are no intermediate values. You can have slow and high speeds or stop the servo in between fully open and fully closed. When a digital joystick is connected to the servo, we need to translate its value of 1 as 127using a multiplier Open the Mathematical tools library, and get a GAIN September 20 th, 2014 Bison BEST 28

Drag the Gain icon and make as many copies as the digital joysticks that you have September 20 th, 2014 Bison BEST 29

Set the multiplier Double click the gain to open its properties window Set a Gain or multiplier of 127 for all digital joysticks that drive servos (or motors) September 20 th, 2014 Bison BEST 30

The final model September 20 th, 2014 Bison BEST 31

After Building the Model Save the simulink model file You may want to Simulate the model before downloading into your Vex Controller. Open the utilities block again (if it is closed) Pay attention to the Simulation Input, and the Simulation Output collections August 1, 2010 Copyright 2010 BEST Robotics, Inc. All rights reserved. 32

Simulating the Arcade Pull a variable input, a the field simulator and a toggle. Make as mane copies as necessary Connect the variable inputs to the inputs of the joysticks Connect the toggles to the inputs of the joysticks Connect the field simulator to the two drive motors August 1, 2010 Copyright 2010 BEST Robotics, Inc. All rights reserved. 34

After Simulation Remove all simulation signals Save your model file Compile the model to generate C-codes and upload into Cortex microcontroller. Make sure Cortex is connected Choose Code-> C/C++ Code -> Build Model August 1, 2010 Copyright 2010 BEST Robotics, Inc. All rights reserved. 36

Additional support http://www.mathworks.com/academia/student-competitions/best-robotics/ September 20 th, 2014 Bison BEST 37