S-function to initialize

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cyberdyne
cyberdyne on 10 Sep 2011
This is the s-function that animates a robotic manipulator model; it does't see the vector to initialize the robot graphic (in the function is [0 pi/2 0 0 pi/2 -pi/2 pi]), but it considers only [0 0 0 0 0 0 0].
function [sys,x0,str,ts] = splotbot(t,x,u,flag, robot)
switch flag,
case 0
% initialize the robot graphics
[sys,x0,str,ts] = mdlInitializeSizes; % Init
plot(robot, [0 pi/2 0 0 pi/2 -pi/2 pi]);
case 2
% come here on update
if ~isempty(u),
plot(robot, u');
drawnow
end
ret = [];
case {1, 4, 9}
ret = [];
end
%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts]=mdlInitializeSizes
%
% call simsizes for a sizes structure, fill it in and convert it to a
% sizes array.
%
% Note that in this example, the values are hard coded. This is not a
% recommended practice as the characteristics of the block are typically
% defined by the S-function parameters.
%
sizes = simsizes;
sizes.NumContStates = 0;
sizes.NumDiscStates = 0;
sizes.NumOutputs = 0;
sizes.NumInputs = -1;
sizes.DirFeedthrough = 1;
sizes.NumSampleTimes = 1; % at least one sample time is needed
sys = simsizes(sizes);
%
% initialize the initial conditions
%
x0 = [];
%
% str is always an empty matrix
%
str = [];
%
% initialize the array of sample times
%
ts = [0 0];
% end mdlInitializeSizes
  1 Comment
Fangjun Jiang
Fangjun Jiang on 10 Sep 2011
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