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 |  |
| Differentiator | 1 | 1 |  |
| Delay | 1 | 1 | |
| Demultiplexer | 1 | N | |
| Gain | 1 | 1 | |
| Basic Block | 1 | 1 | |
| Integrator | 1 | 1 | |
| Keyboard Input | 0 | 2 | |
| Mouse Input | 0 | 2 | |
| Multiplexer | N | 1 | |
| Multiplier | 2 | 1 | |
| Path Planner Cubic | 0 | 4 | |
| Path Planner Constant Acceleration | 0 | 3 | |
| Path Planner Constant Jerk | 0 | 4 | |
| Peripheral Input | 0 | 1 | |
| Peripheral Output | 1 | 0 | |
| Rate Limiter | 1 | 0 | |
| Saturation | 1 | 1 | |
| Signal Checker | 1 | 0 | |
| Socket Data | 0/1 | 0/1 | |
| Space Navigator Input | 0 | 2 | |
| Step | 0 | 1 | |
| Subsystems | N | M | |
| Sum | N | 1 | |
| Switch | N | 1 | |
| Trace | 1 | 0 | |
| Transition | 1(1) | 1 | |
| Watchdog | 1 | 0 | |
| WrapAround | 1 | 1 | |
| XBox Input | 0 | 2 | |
| ZTransferFunction | 1 | 1 | |
Filters
| Name | Inputs | Outputs | clock-dependent? |
|---|---|---|---|
| Kalman Filter | 0 | 2 | |
| Low Pass Filter | 1 | 1 | |
| Median Filter | 1 | 1 | |
| Moving Average Filter | 1 | 1 | |
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 | |
| ROS Publisher Double Array | 1 | 0 | |
| ROS Publisher Laser Scan | 1 | 0 | |
| ROS Publisher Safety Level | 0 | 0 | |
| ROS Subscriber Double | 0 | 1 | |
| ROS Subscriber Double Array | 0 | 1 | |
| ROS Subscriber Laser Scan | 0 | 1 | |
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 | |
| CAN Receive | 0 | 1 | |
| CANopen Send | 1 | 0 | |
| CANopen Receive | 0 | 1 | |
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 | |
| Beckhoff EL2008 Digital Output | 8 | 0 | |
| Beckhoff EL3004 Analog Input | 0 | 8 | |
| Beckhoff EL4004 Analog Output | 0 | 8 | |
| Beckhoff EL4004 Analog Output | 0 | 8 | |
| Elmo Input | 0 | 3 | |
| Elmo Output | 4 | 0 | |
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 | |
| PixyCam 2 | 5 | 0 | |
| RealSense T256 | 6 | 0 | |
| RP Lidar | 2 | 0 | |
| SBG Ellipse-A | 5 | 0 | |
Blocks for Interfacing with Various Drives
These blocks are used for sending control signals to drives.
| Name | Inputs | Outputs | clock-dependent? |
|---|---|---|---|
| ODrive | 1 | 3 | |