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reed-adept / aria-matlab

OUTDATED Matlab and Simulink Interfaces for ARIA -- most up to date code can now be found with the ARIA library package -- see website
http://robots.mobilerobots.com/wiki/ARIA
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Simulink with mobilesim #11

Open mbegnini opened 9 years ago

mbegnini commented 9 years ago

Hi,

I have my controller on simulink, got the blocks, but the time in the clock, and in my controller, is way faster then the real time in the mobilesim. What can i do about this?

Thanks!

reed-adept commented 9 years ago

Its been a little while since I tried it in Simulink but I think I had it running using the discrete solver engine in “Fixed-Step” mode (Model Configuration Properties) and set the step size. You can then choose a maximum run time for the simulation so that it goes on for a while. See https://github.com/reed-adept/aria-matlab/blob/master/README.md for more notes.

From: maubegnini [mailto:notifications@github.com] Sent: Tuesday, November 25, 2014 3:00 PM To: reed-adept/aria-matlab Subject: [aria-matlab] Simulink with mobilesim (#11)

Hi,

I have my controller on simulink, got the blocks, but the time in the clock, and in my controller, is way faster then the real time in the mobilesim. What can i do about this?

Thanks!

— Reply to this email directly or view it on GitHubhttps://github.com/reed-adept/aria-matlab/issues/11.

mbegnini commented 9 years ago

I tried use discrete solver in fixed step, but i still use a clock to generate my reference trajectory. Because of that my reference is faster them my robot, the errors grow, and it cannot follow the trajectory.

mbegnini commented 9 years ago

Problem resolved using real-time pacer http://www.mathworks.com/matlabcentral/fileexchange/29107-real-time-pacer-for-simulink

thanks.

reed-adept commented 9 years ago

Thanks for the link to that' I'll add it to the documentation. Ideally there would also be a block that emits a signal to synchronize with the ARIA task loop (which is synchronized to receiving each data update (SIP) from the robot), but I haven't had a chance to figure out how to do that. If anyone knows how to do that and would like to try implementing that, you can use a pull request here if you like, or send a patch or notes or ideas to me or the aria-users email list.

Reed

From: maubegnini notifications@github.com<mailto:notifications@github.com> Reply-To: reed-adept/aria-matlab reply@reply.github.com<mailto:reply@reply.github.com> Date: Thu, 27 Nov 2014 07:39:30 -0800 To: reed-adept/aria-matlab aria-matlab@noreply.github.com<mailto:aria-matlab@noreply.github.com> Cc: Reed Hedges reed.hedges@adept.com<mailto:reed.hedges@adept.com> Subject: Re: [aria-matlab] Simulink with mobilesim (#11)

Problem resolved using real-time pacer http://www.mathworks.com/matlabcentral/fileexchange/29107-real-time-pacer-for-simulink

thanks.

— Reply to this email directly or view it on GitHubhttps://github.com/reed-adept/aria-matlab/issues/11#issuecomment-64804710.