Code covered by the BSD License
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cal_cp_ptp(cp_name, ts, l1, l...
CP + PTP Trajectory Calculation
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cal_eta(eta_s, eta_f, vec_max...
Basic Trajectory Calculation using 5-1-5 Polynomial
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cal_ptp(cp, pos_s, pos_f, ts,...
PTP Trajectory Calculation
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cal_time_data(cp_ptp, ts, tim...
Finish Time and Pen Time Table Calculation
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cat_cp_ptp(cp, ptp)
Concatenate CP and PTP trajectory
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chk_limit(thetas, thetas_max,...
Theta and Omega Limitation Check
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cp_circle(ts)
CP Trajectory (Circle)
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cp_ml_logo
CP Trajectory (MATLAB Logo)
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cp_smile(ts)
CP Trajectory (Smile Mark)
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cp_spiral(ts)
CP Trajectory (Spiral)
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theta2xy(theta1, theta2, l1, ...
Angle to Position Conversion for 2 link SCARA robot
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xy2theta(x, y, l1, l2)
Position to Angle Conversion for 2 link SCARA robot
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param_controller.m
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param_nxtscara.m
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param_plant.m
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param_ref.m
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param_sim.m
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post_sdo_codegen.m
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pre_sdo_codegen.m
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nxtscara
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nxtscara_controller
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nxtscara_vr
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View all files
from
NXT SCARA (Two-Link Planar Robot Arm) Controller Design
by Yorihisa Yamamoto
NXT SCARA Model-Based Design based on Embedded Coder Robot NXT.
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| post_sdo_codegen.m |
% Post-Processing of Code Generation with Simulink Data Object
% Recover the variables and signal resolutions to pre-code generation.
% clear signal objects
cmd = 'clear';
for n = 1:num_sig
cmd = [cmd, ' ', sig.name{n}];
end
eval(cmd)
% reset signal resolution
for n = 1:length(sig.handle.Signals)
set_param(sig.handle.Signals(n), 'MustResolveToSignalObject', 'off')
end
for n = 1:length(sig.handle.States)
set_param(sig.handle.States(n), 'StateMustResolveToSignalObject', 'off')
end
% clear parameter objects
cmd = 'clear';
for n = 1:num_param
cmd = [cmd, ' ', param.name{n}];
end
eval(cmd)
% make parameter data
cmd = [];
for n = 1:num_param
cmd = [cmd, param.name{n}, ' = param.value{', num2str(n), '};'];
end
eval(cmd)
clear n cmd sig param num_sig num_param
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