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--- eeros_architecture:control_system:subsystem [2021/07/08 20:02] – [Define a Subsystem] ursgraf
+++ eeros_architecture:control_system:subsystem [2025/07/22 11:24] (current) – [Using Subio Block] ursgraf
@@ Line 4: / Line 4: @@
 ===== Define a  Subsystem =====
-In order to create a subsystem you have to create a custom made block (see [[eeros_architecture:control_system:custom_blocks|]]). Define the necessary inner blocks in your custom class. In the constructor you create the inner blocks and connect them among each other. The run-method must call all the run-methods of the inner blocks. Write getter methods for all the inputs into and outputs out of the new subsystem
+In order to create a subsystem you can extend the available block ''Subio'' or you have to create a custom made block (see [[eeros_architecture:control_system:custom_blocks|]]).
+==== Using Subio Block ====
+Define the number of inputs and outputs of your sysbsystem together with the necessary inner blocks in your custom class. In the constructor you create the inner blocks and connect them among each other. The run-method must call all the run-methods of the inner blocks. Set the outputs of your subsystem to suitable outputs of your inner blocks.
 <code cpp>
-class Observer : public eeros::control::Blockio<> {
+class Observer : public eeros::control::Subio<1,1,Vector2,Vector2> {
+ public:
+  Observer() : gain1({5.0, 2.2}) ... {
+    sum1.getIn(0).connect(in);
+    sum1.getIn(1).connect(sum2.getOut());
+    sum1.negateInput(1);
+    setOut(sum1.getOut());
+    ...
+  }
+  virtual void run()  {
+    sum2.run();
+    sum1.run();
+    ...
+    gain1.run();
+  }
+ private:
+  eeros::control::Gain<Vector2> gain1;
+  eeros::control::Sum<2, Vector2> sum1, sum2;
+  ...
+};
+</code>
+The whole subsystem is now a block for itself. It can be added to a control system (or an outer subsystem). Its run-method will be called automatically as soon as it is added to a time domain which itself must be started by the executor.
+For an example study the tutorial at [[getting_started:tutorials:subsystem|]] .
+==== Using Custom Block ====
+Define the necessary inner blocks in your custom class. In the constructor you create the inner blocks and connect them among each other. The run-method must call all the run-methods of the inner blocks. Write getter methods for all the inputs into and outputs out of the new subsystem
+<code cpp>
+class Observer : public eeros::control::Blockio<0,0> {
  public:
   Observer() : gain1({5.0, 2.2}) ... {
@@ Line 34: / Line 69: @@
 The whole subsystem is now a block for itself. It can be added to a control system (or an outer subsystem). Its run-method will be called automatically as soon as it is added to a time domain which itself must be started by the executor.
-For an example study the tutorial at [[getting_started:tutorials:subsystem|]] .
 ===== Using Input Signals =====