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--- eeros_architecture:control_system:custom_blocks [2021/05/16 15:28] – [How Many Inputs and Outputs?] ursgraf
+++ eeros_architecture:control_system:custom_blocks [2021/07/08 19:37] (current) – [How Many Inputs and Outputs?] ursgraf
@@ Line 1: / Line 1: @@
 ====== Custom Blocks ======
-If a certain functionality cannot be found in the [[eeros_architecture:control_system:available_blocks|]] you have to implement it in your own block. This is also the case if you want to create a[[eeros_architecture:control_system:subsystem|Subsystem]].
+If a certain functionality cannot be found in the [[eeros_architecture:control_system:available_blocks|]] you have to implement it in your own block. This is also the case if you want to create a [[eeros_architecture:control_system:subsystem|Subsystem]].
 ==== How Many Inputs and Outputs? ====
-If your block has one input, one output, or one input and one output, you should design your block as an extension of ''Block1i'', ''Block1o'', or ''Block1i1o'', respectively. \\
+You should design your block as an extension of ''Blockio''. Choose the template parameters so that you get the desired number of input and output signals together with their types. If signals carry different types, you have will have to define the necessary inputs and outputs as fields of your new block class.
-For all other cases your block will have to define the necessary inputs and outputs as fields of your new block class.
+As a example we take a look at a new block
-As a example we take a block which is of type ''Block1i1o''
 <code cpp>
 template < typename T = double >  // make it available for many types
-class MyBlock : public Block1i1o<T> {
+class MyBlock : public Blockio<1,2,T,T> {  // has 1 input, 2 outputs
  public:
   MyBlock() { ... }   // constructor