MATLAB: Vex V5 Motor Voltage

electric_motor_controlpower_electronics_controlsimulink coderv5vex

How can I set the V5 motors voltage instead of using the built in position or velocity pid control?

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If you are using MATLAB R2018b you can use the attached blocks to set the smart motor voltages and read advanced motor parameters like voltage, current, power, torque, efficiency and temperature.

All you have to do to use these blocks in your models is copy/paste them from the model attached, and make sure that the respective p-file included is on the same folder as your working model.

If you have any questions regarding these blocks, feel free to contact the MathWorks Student Competitions Team at passcompetitions@mathworks.com

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MATLAB: Ultrasonic (sonar) with V5

If you are using version R2019a of the VEX V5 support package you can use the files attached to this post to add support for the ultrasonic, shaft encoder and vision sensors.Follow the instructions below to install the updated library and note that this additions do not make part of the current Simulink support.

1. Install the latest version of the Simulink Coder Support for VEX V5 Robot Brain

2. Find the installation folder of the support package using the following MATLAB command:

>> matlabshared.supportpkg.getSupportPackageRoot

3. Close MATLAB

4. Navigate to the installation directory received from the command above \toolbox\target\supportpackages, and delete and replace the "vexcommon" and "vexv5" folders with the ones attached to this post.

5. Navigate to the installation directory received from the command above \resources, and delete and replace the "vexv5" folder with the one attached to this post.

6. Restart MATLAB

7. Turn off the Simulink preference to not load models created in newer versions. MATLAB>Preferences>Simulink Preferences>Model File>Do not load models created with newer versions of SImulink.

8. Open the VEX V5 Simulink library using the following command to check for new blocks.

>>vexv5lib

If you ran into any issues please contact passcompetitions@mathworks.com

MATLAB: Perform Safe Trajectory Tracking Control on Baxter robot

I'd suggest starting by computing the inverse kinematics/dynamics for each arm independently and seeing if you can place both manipulators where you want.

Of course, there are other calculations that need to be done for a dual-arm system. If you want to hold a particular object with a certain position and orientation, you need to calculate the offset from the object to the 2 points where you're grabbing with each hand. Both forces/torques at each grasping point will result on a combined force/torque on the center of gravity of the object you are holding.

See, for example: https://www.cs.cmu.edu/~maxim/files/dualarmplanning_icra12.pdf

- Sebastian

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Related Solutions

MATLAB: Ultrasonic (sonar) with V5

MATLAB: Perform Safe Trajectory Tracking Control on Baxter robot

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