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--- eeros_architecture:control_system:signals [2017/03/17 17:09] – [Properties] graf
+++ eeros_architecture:control_system:signals [2021/03/03 08:29] (current) – [Reading from Unconnected Inputs] ursgraf
@@ Line 29: / Line 29: @@
 The functions //getIn()// and //getOut()// return an input or output. To access the signals on those in- or outputs, use //getSignal()//.
-===== Reading from Unconnected Inputs =====
+===== Timestamp =====
-If you try to read from an input, which is not connected to an output, a //NotConnectedFault// is thrown. Please make sure that such exceptions are caught as shown in ...
+Every signal carries a timestamp. The timestamp of a signal is usually set in input blocks. Block which read from an external source and deliver this value on a output signal will set its timestamp to the time of the acquisition of the value. \\
+Most blocks will not alter this timestamp. However, blocks which depend on the sampling time such as integrators or differentiators will change the timestamp according to their inner algorithm.
+===== Reading from Unconnected Inputs =====
+If you try to read from an input, which is not connected to an output, a //NotConnectedFault// is thrown. Please make sure that such faults are handled correctly. For an example refer to [[getting_started:tutorials:controlsystem|]].
-===== Using Signals =====
-The example below shows a gain block being defined, where its input and output are set to a two dimensional vector. Its gain is therefore a 2x2-matrix.
-<code cpp>
-  Gain<Vector2, Matrix<2,2>> g1({1,2.5,-1,-0.5});
-</code>
-If a ''Gain'' block is declared with a simple value, a eye matrix with this value is created internally.
-<code cpp>
-  Gain<Vector2> g2(10);
-</code>