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- See SPOT_Software_Version_4_1_Patch_Notes.pdf under Template_Files for a detailed breakdown of the changes in this version.
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Custom_Library/Dynamixel_Actuators/Dynamixel_Control_Validation_SpeedMode.slx
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Custom_Library/Dynamixel_Actuators/Dynamixel_Control_Validation_SpeedMode_2023a.slx
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,204 @@ | ||
| classdef PhaseSpace_ALL < realtime.internal.SourceSampleTime ... | ||
| & coder.ExternalDependency ... | ||
| & matlab.system.mixin.Propagates ... | ||
| & matlab.system.mixin.CustomIcon | ||
| % | ||
| % System object template for a source block. | ||
| % | ||
| % This template includes most, but not all, possible properties, | ||
| % attributes, and methods that you can implement for a System object in | ||
| % Simulink. | ||
| % | ||
| % NOTE: When renaming the class name Source, the file name and | ||
| % constructor name must be updated to use the class name. | ||
| % | ||
|
|
||
| % Copyright 2016 The MathWorks, Inc. | ||
| %#codegen | ||
| %#ok<*EMCA> | ||
|
|
||
| properties | ||
| % Platform Selection | ||
| platformSelection = 3; | ||
| sampleRate = 0.1; | ||
| end | ||
|
|
||
| properties (Nontunable) | ||
| % Public, non-tunable properties. | ||
| end | ||
|
|
||
| properties (Access = private) | ||
| % Pre-computed constants. | ||
| end | ||
|
|
||
| methods | ||
| % Constructor | ||
| function obj = PhaseSpace_ALL(varargin) | ||
| % Support name-value pair arguments when constructing the object. | ||
| setProperties(obj,nargin,varargin{:}); | ||
| end | ||
| end | ||
|
|
||
|
|
||
| methods (Access=protected) | ||
| function setupImpl(obj) | ||
| if isempty(coder.target) | ||
| % Place simulation setup code here | ||
| else | ||
| % Call C-function implementing device initialization | ||
| coder.cinclude('owl.hpp'); | ||
| coder.cinclude('phasespace_headers.h'); | ||
| coder.ceval('initialize_phasespace',obj.platformSelection, obj.sampleRate); | ||
| end | ||
| end | ||
|
|
||
| function y = stepImpl(obj) | ||
|
|
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| y1 = double(0); | ||
| y2 = double(0); | ||
| y3 = double(0); | ||
| y4 = double(0); | ||
| y5 = double(0); | ||
| y6 = double(0); | ||
| y7 = double(0); | ||
| y8 = double(0); | ||
| y9 = double(0); | ||
| y10 = double(0); | ||
| y11 = double(0); | ||
| y12 = double(0); | ||
|
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| y = zeros(1,12,'double'); | ||
|
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||
| if isempty(coder.target) | ||
| % Place simulation output code here | ||
| else | ||
|
|
||
| coder.ceval('stream_phasespace',coder.ref(y1),... | ||
| coder.ref(y2),coder.ref(y3),coder.ref(y4),... | ||
| coder.ref(y5),coder.ref(y6),coder.ref(y7),... | ||
| coder.ref(y8),coder.ref(y9),coder.ref(y10),... | ||
| coder.ref(y11),coder.ref(y12),obj.platformSelection); | ||
| y =[y1/1000, y2/1000, y3, y4/15, y5/1000, y6,... | ||
| y7/1000, y8/1000, y9/1000, y10/1000, y11/1000, y12/1000]; | ||
|
|
||
| end | ||
| end | ||
|
|
||
| function releaseImpl(obj) %#ok<MANU> | ||
| if isempty(coder.target) | ||
| % Place simulation termination code here | ||
| else | ||
| % Call C-function implementing device termination | ||
| coder.ceval('terminate_phasespace'); | ||
| end | ||
| end | ||
| end | ||
|
|
||
| methods (Access=protected) | ||
| %% Define output properties | ||
| function num = getNumInputsImpl(~) | ||
| num = 0; | ||
| end | ||
|
|
||
| function num = getNumOutputsImpl(~) | ||
| num = 1; | ||
| end | ||
|
|
||
| function flag = isOutputSizeLockedImpl(~,~) | ||
| flag = true; | ||
| end | ||
|
|
||
| function varargout = isOutputFixedSizeImpl(~,~) | ||
| varargout{1} = true; | ||
| end | ||
|
|
||
| function flag = isOutputComplexityLockedImpl(~,~) | ||
| flag = true; | ||
| end | ||
|
|
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| function varargout = isOutputComplexImpl(~) | ||
| varargout{1} = false; | ||
| end | ||
|
|
||
| function varargout = getOutputSizeImpl(~) | ||
| varargout{1} = [1,12]; | ||
| end | ||
|
|
||
| function varargout = getOutputDataTypeImpl(~) | ||
| varargout{1} = 'double'; | ||
| end | ||
|
|
||
| function icon = getIconImpl(~) | ||
| % Define a string as the icon for the System block in Simulink. | ||
| icon = 'Stream_PS_ALL'; | ||
| end | ||
| end | ||
|
|
||
| methods (Static, Access=protected) | ||
| function simMode = getSimulateUsingImpl(~) | ||
| simMode = 'Interpreted execution'; | ||
| end | ||
|
|
||
| function isVisible = showSimulateUsingImpl | ||
| isVisible = false; | ||
| end | ||
|
|
||
| function header = getHeaderImpl | ||
| header = matlab.system.display.Header('PhaseSpace_ALL','Title',... | ||
| 'Initialize and Stream PhaseSpace','Text',... | ||
| ['This simulink block initializes the PhaseSpace cameras to '... | ||
| 'collect position data. The sample time should be '... | ||
| 'set to 0.1 seconds. The output of this block is a [1x12] vector '... | ||
| 'containing the position in [m] and the attitude in [rad].' newline]); | ||
| end | ||
|
|
||
| end | ||
|
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| methods (Static) | ||
| function name = getDescriptiveName() | ||
| name = 'Stream_PS_ALL'; | ||
| end | ||
|
|
||
| function b = isSupportedContext(context) | ||
| b = context.isCodeGenTarget('rtw'); | ||
| end | ||
|
|
||
| function updateBuildInfo(buildInfo, context) | ||
| if context.isCodeGenTarget('rtw') | ||
| % Update buildInfo | ||
| srcDir = fullfile(fileparts(mfilename('fullpath')),'src'); | ||
| includeDir = fullfile(fileparts(mfilename('fullpath')),'include'); | ||
| addIncludePaths(buildInfo,includeDir); | ||
|
|
||
| % Add the INCLUDE files for the PhaseSpace camera | ||
| addIncludeFiles(buildInfo,'vector.h',includeDir); | ||
| addIncludeFiles(buildInfo,'thread.h',includeDir); | ||
| addIncludeFiles(buildInfo,'socket.h',includeDir); | ||
| addIncludeFiles(buildInfo,'serialize.h',includeDir); | ||
| addIncludeFiles(buildInfo,'protocol.h',includeDir); | ||
| addIncludeFiles(buildInfo,'packet.h',includeDir); | ||
| addIncludeFiles(buildInfo,'owl_rpd.h',includeDir); | ||
| addIncludeFiles(buildInfo,'owl_math.h',includeDir); | ||
| addIncludeFiles(buildInfo,'owl.h',includeDir); | ||
| addIncludeFiles(buildInfo,'libowl.h',includeDir); | ||
| addIncludeFiles(buildInfo,'owl_rpd.hpp',includeDir); | ||
| addIncludeFiles(buildInfo,'owl.hpp',includeDir); | ||
| addIncludeFiles(buildInfo,'phasespace_headers.h',includeDir); | ||
|
|
||
| % Add the SOURCE files for the PhaseSpace camera | ||
| addSourceFiles(buildInfo,'socket.cpp',srcDir); | ||
| addSourceFiles(buildInfo,'owl_rpd.cpp',srcDir); | ||
| addSourceFiles(buildInfo,'owl.cpp',srcDir); | ||
| addSourceFiles(buildInfo,'libowl_socket.cpp',srcDir); | ||
| addSourceFiles(buildInfo,'libowl.cpp',srcDir); | ||
| addSourceFiles(buildInfo,'filters.cpp',srcDir); | ||
| addSourceFiles(buildInfo,'phasespace_functions.cpp',srcDir); | ||
|
|
||
| %addLinkFlags(buildInfo,{'-lSource'}); | ||
| %addLinkObjects(buildInfo,'sourcelib.a',srcDir); | ||
| %addCompileFlags(buildInfo,{'-D_DEBUG=1'}); | ||
| %addDefines(buildInfo,'MY_DEFINE_1') | ||
| end | ||
| end | ||
| end | ||
| end |
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