Available Blocks

The EEROS library includes many basic blocks. See http://api.eeros.org for further information. Important details about blocks are given below.

Name Inputs Outputs clock-dependent?
Constant 0 1 RED
Differentiator 1 1 GREEN
Delay 1 1 GREEN
Demultiplexer 1 N RED
Gain 1 1 RED
Basic Block 1 1 RED
Integrator 1 1 GREEN
Keyboard Input 0 2 RED
Mouse Input 0 2 RED
Multiplexer N 1 RED
Multiplier 2 1 RED
Path Planner Cubic 0 4 RED
Path Planner Constant Acceleration 0 3 RED
Path Planner Constant Jerk 0 4 RED
Peripheral Input 0 1 RED
Peripheral Output 1 0 RED
Rate Limiter 1 0 RED
Saturation 1 1 RED
Signal Checker 1 0 RED
Socket Data 0/1 0/1 RED
Space Navigator Input 0 2 RED
Step 0 1 RED
Subsystems N M RED
Sum N 1 RED
Switch N 1 RED
Trace 1 0 RED
Transition 1(1) 1 GREEN
Watchdog 1 0 RED
WrapAround 1 1 RED
XBox Input 0 2 RED
ZTransferFunction 1 1 RED

Filters

Name Inputs Outputs clock-dependent?
Kalman Filter 0 2 RED
Low Pass Filter 1 1 RED
Median Filter 1 1 RED
Moving Average Filter 1 1 RED

Blocks for Interfacing with ROS

ROS is a flexible framework for writing robot software. It is great collection of tools, libraries, and conventions. Special blocks in EEROS take care of sending signals to and receiving signals from ROS.

Name Inputs Outputs clock-dependent?
ROS Publisher Double 1 0 RED
ROS Publisher Double Array 1 0 RED
ROS Publisher Laser Scan 1 0 RED
ROS Publisher Safety Level 0 0 RED
ROS Subscriber Double 0 1 RED
ROS Subscriber Double Array 0 1 RED
ROS Subscriber Laser Scan 0 1 RED

Blocks for Interfacing with CAN

Special blocks in EEROS take care of sending signals to and receiving signals from a CAN bus.

Name Inputs Outputs clock-dependent?
CAN Send 1 0 RED
CAN Receive 0 1 RED
CANopen Send 1 0 RED
CANopen Receive 0 1 RED

Blocks for Interfacing with EtherCAT

Special blocks in EEROS take care of sending signals to and receiving signals from an EtherCAT bus.

Name Inputs Outputs clock-dependent?
Beckhoff EL1008 Digital Input 0 8 RED
Beckhoff EL2008 Digital Output 8 0 RED
Beckhoff EL3004 Analog Input 0 8 RED
Beckhoff EL4004 Analog Output 0 8 RED
Beckhoff EL4004 Analog Output 0 8 RED
Elmo Input 0 3 RED
Elmo Output 4 0 RED

Blocks for Interfacing with Various Sensors

These blocks can be used to gather data from sensors and output the sensor signals on outputs for further processing in other blocks. The sensors are read over various communication channels such as USB, UART, MODBUS, etc.

Name Inputs Outputs clock-dependent?
Baumer OM7 Distance Sensor 1 0 RED
PixyCam 2 5 0 RED
RealSense T256 6 0 RED
RP Lidar 2 0 RED
SBG Ellipse-A 5 0 RED

Blocks for Interfacing with Various Drives

These blocks are used for sending control signals to drives.

Name Inputs Outputs clock-dependent?
ODrive 1 3 RED