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Simulink Support for VEX Cortex BEST Robotics 2013

Sandeep Hiremath

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WebEx

Chat

I was on the road and could provide my comments only this

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Outline

Intro to Simulink – Launching and Navigating through the software

– Creating a simple robot program

– Simulating and Debugging robot programs

– Advanced Logic Design 3D Virtual World Access to the software Software Installation More Training Resources

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What is Simulink?

Simulink is a software package for modeling, simulating, and testing the BEST robot program.

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Why Simulink?

• Simple Programming Interface- Easy to use interface- Graphical drag and drop- NO prior programming knowledge required

• More Efficient Design Flow- Parallel development- No waiting for robot to be built

• Simulation and Debug- Test your program without hardware- What-if scenarios are easy

• Advanced Programming also- Stateflow- Embedded MATLAB code

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Why Simulink?

Used in Engineering curriculum all over the world (~4000 schools) –MATLAB and Simulink

Used in many robotics, aerospace and automotive student competitions - http://www.mathworks.com/academia/student-competitions/

Many K-12 teachers are now using MATLAB and Simulink for teaching in classroom– MATLAB at Trinity Schools  

View how secondary students learn science and math interactively.

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Simulink and BEST Library

BEST Robotics Library

Learn more: http://www.mathworks.com/products/demos/academia/simulink-quick-start/

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Sample Robot

3 big motors2 servosSwitch

Right motor – Left motor – Arm motor –

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Lets Build!

Tank Robot Configuration– tank2.mdl (Example model)

Your RobotJoystick Control

2 vertical axes control the 2 wheels

Robot Program / Behavior

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VEX CortexTwo Vertical Axes

Robot Program / Behavior

Two Motors

Lets Build!

Tank Robot Configuration– tank2.mdl (Example model)

Right Motor

Left Motor

Pin 2

Pin 9

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VEX Controller/Gamepad

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VEX Microcontroller

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Setup

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New terms

Simulink model – robot program Block – command or function Library – group of blocks or commands Generate code - Auto generate C code from the

Simulink model Run a Simulink model – ‘Simulate’ a program

on PC

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What is Simulation?

Model ofBehavior

Simulation is the imitation of some real thing, state of affairs, or process.

What if we do this? Imitate the robot behavior What will the robot do?

Stimulus Response

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Gamepad Input to program

Sources

Sinks

deadband

0

Toggle

Terminator

Switch

Stateflow

Scope

Real Time

Manual Switch

Joystick Input

Analog_1

Analog_2

Analog_3

Analog_4

D8_lef t

D8_down

D8_right

D8_up

D5_up

D6_up

D5_down

D6_down

D7_up

D7_right

D7_down

D7_lef t

Gamepad Input

Gamepad Input

Right Speed

Lef t Speed

Field Simulator

Display

Convert

Data Type Conversion

1

Constant

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Gamepad Input to Simulink

Sources

Sinks

deadband

0

Toggle

Terminator

Switch

Stateflow

Scope

Real Time

Manual Switch

Joystick Input

Analog_1

Analog_2

Analog_3

Analog_4

D8_lef t

D8_down

D8_right

D8_up

D5_up

D6_up

D5_down

D6_down

D7_up

D7_right

D7_down

D7_lef t

Gamepad Input

Gamepad Input

Right Speed

Lef t Speed

Field Simulator

Display

Convert

Data Type Conversion

1

Constant

VEX Controller NOT supported

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Gamepad Input to Simulink

Sources

Sinks

deadband

0

Toggle

Terminator

Switch

Stateflow

Scope

Real Time

Manual Switch

Joystick Input

Analog_1

Analog_2

Analog_3

Analog_4

D8_lef t

D8_down

D8_right

D8_up

D5_up

D6_up

D5_down

D6_down

D7_up

D7_right

D7_down

D7_lef t

Gamepad Input

Gamepad Input

Right Speed

Lef t Speed

Field Simulator

Display

Convert

Data Type Conversion

1

Constant

Logitech Gamepad F310

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Gamepad Input to Simulink

Sources

Sinks

deadband

0

Toggle

Terminator

Switch

Stateflow

Scope

Real Time

Manual Switch

Joystick Input

Analog_1

Analog_2

Analog_3

Analog_4

D8_lef t

D8_down

D8_right

D8_up

D5_up

D6_up

D5_down

D6_down

D7_up

D7_right

D7_down

D7_lef t

Gamepad Input

Gamepad Input

Right Speed

Lef t Speed

Field Simulator

Display

Convert

Data Type Conversion

1

Constant

Xbox Controller!!

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BEST VEX Library

Workflow Summary

Auto Code Generation- easyC

Simulink Model

Hardware

Simulation/Testing

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Overview - BEST Library

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Advanced Programming Stateflow

– Demo: Tank2withGear.mdl Aracde2withGear.mdl

– Blocks: Latch Gear Transmission

Using Embedded MATLAB function block New!!– Demo:

Teank2withGear_EML.mdl

– Blocks: Utilities library -> MATLAB Function

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Getting access to software

Contact your Hub Directors for DVDs 2 DVDs per team Label has a URL – Installation instructions No online download available No Paperwork 1-year full access

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Software and Installation 2 DVDs per team (Hubs get a DVD too!) Label on the DVD has installation/activation key Label has URL instructions:

www.mathworks.com/BESTInstall 1 year full access (May 2013 to May 2014)

System Requirements:– Windows XP or later version (Vista, 7)

– Could be 32-bit or 64-bit machines

– Need ‘easy C’ to download the program to VEX hardware (easyC Cortex V4)

Contact: bestrobotics@mathworks.com

Labe

l

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Training Resources

Weekly WebEx training – Info on BRI home page

Video Tutorials available– www.bestinc.org > Participants > Resources

On Demand online training– – Customized for teams

– Q&A Contact

– bestrobotics@mathworks.com

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BEST Simulink Design Award

One team per region recognized for the best robot program designed using Simulink.

Every submission – A Simulink file

– A short (fun+ technical) video

More details – Coming soon!

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Thank you!

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