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--- eeros_architecture:control_system:blocks [2017/03/17 17:04] – [Making Connections] graf
+++ eeros_architecture:control_system:blocks [2022/04/19 12:36] (current) – [Predefined Blocks] ursgraf
@@ Line 3: / Line 3: @@
 ===== Inputs and Outputs =====
-Every output carries a signal. An input can be connected to an output and simply refers to the signal of this connected output.
+Every output carries a [[eeros_architecture:control_system:signals|signal]]. An input can be connected to an output and simply refers to the signal of this connected output.
 [{{ 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 17: / Line 17: @@
   sum.getIn(0).connect(step.getOut());
-  Gain<> posController(174.5); // kp=174.5
+  Gain<Vector2> posController(174.5); // kp=174.5
   posController.setName("gain block for position control");
 </code>
@@ Line 25: / Line 25: @@
 Output signals are created together with the blocks. On the other side, there is no need to generate and name input signals.
+For most blocks you have to specify the signal types on its inputs or outputs with template parameters, see [[tools:cplusplus#templates|]]
@@ Line 35: / Line 36: @@
 </code>
 //getIn(0)// returns the first input signal. With //getIn(1)// you will get the second input signal.
+===== Initial State of Outputs =====
+All outputs of any block carry a value of NaN (not a number) after the block has been created. Only after the first execution of its run-method does the signal have a meaningful value.