MBD-MC-E: Model Based Design of Motion Control for ETH boards #104
Description
Epic description 📑
This epic contains activities related to the Simulink modeling and code generation of the MC running in ETH boards.
Ideally, we would like to have a model similar to the one in the following figure.
Figure. Draft desired model of MC for ETH boards.
The above will run on the dual core ETH boards such as amc, amcfoc, amcmj1, amc4dc but ideally also of the legacy ETH boards (ems, mc4plus, mc2plus).
On the above boards now runs an implementation of the MC written in C which is linked via a set of API to external C modules that deals with UDP and CAN communication and with the on board sensors.
The aim of this epic is:
- to study how the existing MC implementation can host more and more MBD generated code of blocks of the above picture;
- to incrementally add these blocks
Useful links and documents 🔖
Definition of Done 🏁
The MC code running on ETH boards comes from Simulink models in its most relevant parts.