Differences

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--- eeros_architecture:control_system:blocks [2015/10/14 14:50] – graf
+++ eeros_architecture:control_system:blocks [2017/03/17 09:55] – [Inputs and Outputs] graf
@@ Line 3: / Line 3: @@
 ===== Inputs and Outputs =====
-Every output carries a signal. An input simply refers to a connected output.
+Every output carries a signal. An input can be connected to an output and simply refers to the signal of this connected output.
-{{ inoutputuml.png?500 | //Input und Output Type//}}
+[{{ block.png?200 | //Two blocks connected together//}}]
 This makes sure that each input is connected to a single output. On the other hand, an output can carry its signal to many inputs.
@@ Line 38: / Line 38: @@
 As an example we look at a block which does summation. Two signals, each of dimension 3, will be added together.
 <code cpp>
-  Sum<3> sum;
+  Sum<2,Vector3> sum;
   sum.setName("adds feedback");
   sum.getOut().getSignal().setName("control signal");
-  sum.getIn(0).connect(step.getOut());
-	Sum sum(3);
-	sum.getOut().setName("phi");
-	sum.getOut().setUnit("rad");
 </code>
 This is shown in the following diagram:
 {{ sumblock.png?300 | //Summation block with threedimensional signals//}}
-The functions //getIn()// and //getOut()// return an input or output signal, respectively. With the summation block, //getOut()// returns the single output signal. //getIn()// returns the first input signal. This is the same as //getIn(0)//. To obtain the second input signal you have to write //getIn(1)//.
+The functions //getIn()// and //getOut()// return an input or output signal, respectively. With the summation block, //getOut()// returns the single output signal.
-In order to access the individual dimensions of a certain signal, use functions like
-<code c>
-	sum.getOut().getValue();  // returns dimension 0 of output
-	sum.getOut().getValue(0);  // returns dimension 0 of output
-	sum.getOut().getValue(2);  // returns dimension 2 of output
-	sum.getIn(1).getValue(2);  // returns dimension 2 of input 1
-</code>
 =====Making Connections=====
 When all necessary blocks have been created the blocks must be wired together.
-<code c>
+<code cpp>
-	sum.getIn(0).connect(step.getOut());
+  sum.getIn(0).connect(step.getOut());
-	sum.getIn(1).connect(enc.getOut());
+  sum.getIn(1).connect(gain.getOut());
-	posController.getIn().connect(sum.getOut());
+  posController.getIn().connect(sum.getOut());
 </code>
+//getIn(0)// returns the first input signal. With //getIn(1)// you will get the second input signal.