Vex-V5-Simulink-Expansion

Incorporates the VEX EDR V5 Robot Brain Support into a higher level interface, alongside additional functionality for the VEX V5 Workcell.

Vex-V5-Simulink-Expansion

About The Project

This library incorporates the MATLAB-provided VEX EDR V5 Robot Brain Support from Simulink into a higher level interface, alongside some addition functionality for the VEX V5 Workcell kit.

Getting Started

Prerequisites

• The official VEX EDR V5 Robot Brain Support from Simulink library.
• The Advanced Smart Motor Blocks files to be in the workspace directory. The files are provided in this repository for convenience, though were originally published in MATLAB answers as linked.

Installation

After downloading, ensure the Vex_V5_Simulink_Expansion folder is in your MATLAB path. Once this is completed, the library should appear in the Simulink Library Browser.

Important Information

• The 'Inverse Kinematic Calculation' and 'Inverse Kinematic Motion' blocks make no checks to ensure the output position can be reached. These limits must be included in your model.
• The Vex V5 Arm home position in the 'Angle to Potentiometer' and 'Potentiometer to Angle' is defined by the joint angles in the block MATLAB code. These can be changed to suit the home jig that is being used.

License

Distributed under the MIT License. See LICENSE.txt for more information.