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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OUTDATED Matlab and Simulink Interfaces for ARIA -- most up to date code can now be found with the ARIA library package -- see website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 10 years ago

mbegnini commented 10 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 10 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 10 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 10 years ago

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

thanks.

reed-adept commented 10 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.