Beta-Testers for new Simulink FRC Blockset Wanted

[Jared Russell]

What are the chances that we could get autogenerated Java code too? Not that it would be that hard to turn the autogenerated C++ into Java, but I'm greedy If necessary, I might be able to devote some time towards developing/testing Simulink->Java functionality.

I am a C/C++ guy myself first and foremost, but our team is committed to Java since that is where the bulk of our students' knowledge lies.

[Chris Hibner]

Originally Posted by Ether

Just curious: what kind of calculations did you have to make for which 16 bits of precision was not adequate?

~

I don't remember - that was quite a while ago.

[vamfun]

Originally Posted by akalmbach

MathWorks is developing a Simulink/MATLAB library to program FRC robots. This library is based on the WPILib C++ library, and allows teams to create and test robot control algorithms in an interactive graphical environment using block diagrams and state charts. We are currently looking for FRC teams that would be interested in beta-testing the library and giving us feedback. Eligible teams will get licenses for relevant MathWorks products at no charge.

Like Chris Hibner's team, 599 has used simulation to model robot dynamics for complex functions like auto traction control, auto steering , pneumatic system dynamics and autonomous control logic. Although I use Simulink occasionally as a mentor, the kids haven't had the tools available to them. I think this would be a good start to motivating them.

I would really jump on this if Mathworks included the Virtual 3D modeling capability in the library. To me this is the main element missing in autonomous check out. There are many programs that can do this, by it is not worth the expense and training time to use them. If a simple virtual robot library that just used kinematics generated by SIMULINK (no force interactions) could be added it would go a long way to help visualizing robot behavior...ie , the next best thing to actual implementation. Perhaps later, boundary constraints could be added.

I think this is where Mathworks could buy into FIRST like NI to get their product introduced to kids earlier. I don't know if NI has this on their plate.

[Greg McKaskle]

I don't want to crash this thread to talk about NI stuff, but it would be interesting to hear what sorts of simulation and control features would be most useful. Perhaps if you want to start a new thread to collect feature ideas...

Greg McKaskle

[Robototes2412]

How much are we talking for this?

[akalmbach]

Originally Posted by Jared341

What are the chances that we could get autogenerated Java code too? Not that it would be that hard to turn the autogenerated C++ into Java, but I'm greedy If necessary, I might be able to devote some time towards developing/testing Simulink->Java functionality.

I am a C/C++ guy myself first and foremost, but our team is committed to Java since that is where the bulk of our students' knowledge lies.

The initial version of the Simulink FRC library will not include Java code generation (It is our expectation that although you can look at and edit the generated code, most teams will not have to or want to). However, we welcome any attempts to extend the library; if you are interested in pursuing the idea of Simulink -> Java code generation for FRC, please contact gautam.vallabha@mathworks.com

Originally Posted by Robototes2412

How much are we talking for this?

The Simulink FRC Library (and any required MathWorks products) will be freely available for any FRC teams that request it from us.

[Joe Ross]

Originally Posted by Robototes2412

How much are we talking for this?

Matlab and Simulink and everything else they mentioned is probably on the order of $10,000. That's a great donation!

[Gautam]

Originally Posted by vamfun

I would really jump on this if Mathworks included the Virtual 3D modeling capability in the library. To me this is the main element missing in autonomous check out. There are many programs that can do this, by it is not worth the expense and training time to use them. If a simple virtual robot library that just used kinematics generated by SIMULINK (no force interactions) could be added it would go a long way to help visualizing robot behavior...ie , the next best thing to actual implementation.

Teams that are beta-testing the FRC Library for Simulink (and eventually, any FRC team that uses the library) will get access to a standard bundle of MathWorks products. This bundle includes Simulink 3D Animation (the virtual 3d environment). It does not come with 3D modeling components for FRC robots; however, you can build and view custom VRML worlds, or import VRML worlds built in some other application.

One problem with creating a virtual robot library is the sheer variety of FRC robot designs; also, how would the kinematics be calculated? I know some teams have looked at SimMechanics and SimDriveline. I'd be interested in hearing your thoughts on whether these products would be relevant/useful for your team.

Thanks,
Gautam

Gautam Vallabha
MathWorks

[Mike o.]

I would like to learn more about the FRC Library testing for Simulink. Are these libraries available right now? If not, when will they be available? Where are they going to be posted?

[Gautam]

Originally Posted by Mike o.

I would like to learn more about the FRC Library testing for Simulink. Are these libraries available right now? If not, when will they be available? Where are they going to be posted?

We are still developing the library. It is "available" in the sense that we are inviting teams to help us with beta-testing it. Once the beta-test is done, the goal is to have it ready by early fall, and we will probably announce it on these forums along with procedures for how FRC teams can get the library & related MathWorks products.

Feel free to send me an email if you have any questions.

Best regards,
Gautam

Gautam Vallabha
MathWorks

[macrylinda1]

Originally Posted by apalrd

proprietary != evil.

Just because everything made by a company with an apple for a logo happens to be both proprietary and evil, does not mean everything that is proprietary is evil.

Sometimes proprietary software is actually good.

That's VERY cool. To me, Simulink is much easier to use than LabVIEW - too bad we don't have WPILib experience or we'd jump right in!

[vamfun]

Originally Posted by Gautam

Teams that are beta-testing the FRC Library for Simulink (and eventually, any FRC team that uses the library) will get access to a standard bundle of MathWorks products. This bundle includes Simulink 3D Animation (the virtual 3d environment).

Great to hear.

It does not come with 3D modeling components for FRC robots; however, you can build and view custom VRML worlds, or import VRML worlds built in some other application.

I think a simple 4 wheel or 6 wheel robot that just integrates wheel speeds to get movement would suffice to test basic maneuvering scripts. Many of the engineering mentors can build the necessary dynamic models and make them available to others. Eventually, more complicated models with 3D modeling components could be added. Simple arms with a few joints can be easily modeled but ball harvesters etc would be problematic.

I know some teams have looked at SimMechanics and SimDriveline. I'd be interested in hearing your thoughts on whether these products would be relevant/useful for your team.

It would nice to have the forces modeled , especially wheel friction and dynamic loading but I think adding another modeling language would be a burden for most teams. However, if these programs were available, some clever teams could develop the dynamics of a basic 6 wheel robot and generate the simulink code from it for others to use on a parametric basis.