Differences

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--- eeros_architecture:control_system:blocks [2015/10/14 15:28] – [Signals] 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 simply refers to a 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.
-{{ 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 12: / Line 12: @@
   Step<> step(0.0, -3.14159265359, 5);
   step.setName("step 1");
-  step.getOut().getSignal().setName("phi_desired");
   Sum<3> sum;
   sum.setName("adds feedback");
-  sum.getOut().getSignal().setName("control signal");
   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 27: / 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|]]
-=====Signals=====
-The signals used to connect the blocks can be of different types. They can be parametrized with the aid of template parameters. Supported types are
-  * Arithmetic (int, double ...)
-  * Logic (bool)
-  * Vector (Vector2, Vector3, Vector4)
-  * Matrix
-Each signal can be assigned a name and a unit. All dimensions of a signal share the same name and unit.\\
-As an example we look at a block which does summation. Two signals, each of dimension 3, will be added together.
+=====Making Connections=====
+When all necessary blocks have been created the blocks must be wired together.
 <code cpp>
-  Sum<2,Vector3> sum;
-  sum.setName("adds feedback");
-  sum.getOut().getSignal().setName("control signal");
   sum.getIn(0).connect(step.getOut());
   sum.getIn(1).connect(gain.getOut());
-</code>
+  posController.getIn().connect(sum.getOut());
-This is shown in the following diagram:
+</code>
-{{ sumblock.png?300 | //Summation block with threedimensional signals//}}
+//getIn(0)// returns the first input signal. With //getIn(1)// you will get the second input signal.
-The functions //getIn()// and //getOut()// return an input or output signal, respectively. With the summation block, //getOut()// returns the single output signal. //getIn(1)// 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.
-=====Making Connections=====
-When all necessary blocks have been created the blocks must be wired together.
-<code c>
-	sum.getIn(0).connect(step.getOut());
-	sum.getIn(1).connect(enc.getOut());
-	posController.getIn().connect(sum.getOut());
-</code>