Programming With MATLAB/Simulink - NDSU · PDF fileBEST Robotic, Inc. MATLAB/Simulink Team...

BEST Robotic, Inc.
MATLAB/Simulink Team Training
Programming With MATLAB/Simulink
September 20, 2013 1BISON BEST
What Youll 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
http://www.mathworks.com/BESTinstall BESTRoboticsInstaller_1.1.5.exe downloaded from
http://www.mathworks.com/BESTinstallSeptember 20th, 2013 2Bison BEST

Installation
Follows instruction at www.mathworks.com/BESTinstall 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.
August 1, 2010 3Copyright 2010 BEST Robotics, Inc. All rights reserved.
Key Software Locations

Click on the MATLAB r2013A link
Starting MATLAB
MATLAB command window opens along with the BEST Robotics Library menu
starting

Something on MATLAB
August 1, 2010
8
Copyright 2010 BEST Robotics, Inc. All rights reserved.
MATLAB - Command Window
A semicolon prevents echoing

MATLAB scripting
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.

MATLAB Simulink
Simulink is MATLABs 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
Creating a new Simulink Model

Simulink
August 1, 2010 Copyright 2010 BEST Robotics, Inc. All rights reserved. 14
Simulink BEST Library

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
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

The BEST Robot Model
+ 127
+ 127
-127
-127
+ 127
+ 127
-127
-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.
Accelerometer rotate right limit + 127
Accelerometer rotate left limit - 127
Accelerometer rotate forward limit + 127
Accelerometer rotate back limit -127
Reading the Joystick
Y Axis
X A
xis

Actuating Motors and Servos

Other Model Functions

Bring as Many Functions asNeeded, and Connect
Now, Set the Channels

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

Simulating the Arcade
Simulation Control

After Simulation
Remove all simulation signals Save your model file Compile the model to generate C-codes
After compiling, MATLAB automatically opens EasyC loaded with the Simulink generated C-codes

Compile and Download in your Robot
Compile Project Build and Download
Additional support
http://www.mathworks.com/hardware-support/vex.html

Programming With MATLAB/Simulink - NDSU · PDF fileBEST Robotic, Inc. MATLAB/Simulink Team...

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