-
Notifications
You must be signed in to change notification settings - Fork 5
/
package.mo
1564 lines (1386 loc) · 149 KB
/
package.mo
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
package OpenModelicaEmbedded "Connecting OpenModelica with Arduino"
package GettingStarted "Procedure to run first model using OpenModelicaEmbedded"
extends Modelica.Icons.Information;
annotation(preferredView = "info", Documentation(info = "<html> <p> .</p>
<h4>Preparing Your Board</h4>
<p> .</p>
<p>The first thing you need to do is upload the Firmware code to your board .</p>
<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/FirmataLocation.png\" alt=\"\" /></p>
<p><em>Figure 1. Location of the Firmware sketch.</em></p>
<p>If you wish to use PID(Proportional-integral-derivative) then use another firmware provided with the package. To open an firmware through Arduino IDE click on “Open“ and Browse to the location where you extracted the package. Insdie the package folder look for folder named “Firmware“ which contains a file named “pidmata3.ino“. Select that file and click open to load firmware in Arduino IDE.<br>
Important instructions for using above mentioned firmware “pidmata3.ino“:
<ul>
<li>To use PID uncomment the macro “#define PID“ in firmware and follow further instructions in firmware.</li>
<li>If you are not using PID then comment the above mentioned macro.</li>
</ul>
</p>
<p>Once the the Firmware code is in the board, you need to write down the serial port that it is using. This is important because you need to give the port name to OpenModelicaEmbedded in order to communicate with the board. You can find the serial port in Tools->Serial Port or in the bottom-right corner of the Arduino software window (see Figure 2). In Windows the serial port name is something like “COM5”, while in OS X and Linux the name will be something like “/dev/ttyACM0”. Now you are ready to make your first model.</p>
<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/SerialPortLocation.png\" alt=\"\" /></p>
<p><em>Figure 2. Finding the serial port being used.</em> </p>
<h4>Blinking LED</h4>
<p>As a first exercise, you are going to reproduce with OpenModelicaEmbedded the blinking LED example. You can either open the prebuilt example (OpenModelicaEmbedded.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:</p>
<ul>
<li>OpenModelicaEmbedded.Pins.DigitalOutput</li>
<li>OpenModelicaEmbedded.Boards.Arduino</li>
<li>Modelica.Blocks.Sources.BooleanPulse</li>
</ul>
<p>Connect the components as in Figure 3. One thing to notice is that the DigitalOutput model is connected to the Arduino component to specify that the pin belongs to that board. This connection is necessary because OpenModelicaEmbedded can use multiple boards with multiple pins at the same time.</p>
<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/BlinkLed.png\" alt=\"\" /></p>
<p><em>Figure 3. Diagram of the blinking LED.</em></p>
<p>Next you need to specify the serial port that the board is using. This is done by selecting the Arduino component and showing its parameters. In the parameter view, you can find the Port parameter. Write the port name that you got in the section “Preparing your board”. Important: the name must be have quotation marks as shown in Figure 4.</p>
<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/QuotedSerialPort.png\" alt=\"\" /></p>
<p><em>Figure 4. Specifying the serial port name. </em></p>
<p>Now you need to set the pin number that you are going to use in the DigitalOutput component. Usually, the Arduino boards have an LED attached to pin 13. Set that number in the Pin parameter as shown in Figure 5.</p>
<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/PinNumber.png\" alt=\"\" /></p>
<p><em>Figure 5. Specifying the pin to use.</em></p>
<p>For the BooleanPulse component, set the 'period' parameter to 1. The model is ready to simulate. Press the simulate button and wait to see the results.</p>
<p>The first time you run the model, it is probably simulated so fast that you do not have time to react. The reason is that OpenModelica simulates the model as fast as possible. In order to interact with your models using OpenModelicaEmbedded, it is necessary to synchronize the simulation time with real time. This is done in by using Synchronisation block in ModelicaDeviceDriver library. After simulating the model one time, you need to check in the checkbox “Synchronize with real-time” as shown in Figure 6.</p>
//<p> <img src=\"modelica://OpenModelicaEmbedded/Resources/Images/SynchronizeSetting.png\" alt=\"\" /></p>
//<p><em>Figure 6. Synchronizing your simulation with real time.</em> </p>
//<p>If you are building many models with the OpenModelicaEmbedded library, you should set the “Synchronize with real-time” option as a default simulation setting in SimulationCenter under the menu Tools->Options in the section SimulationCenter->Default Experiment (see Figure 7). </p>
//<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/DefaultSynchronize.png\" alt=\"\" /> </p>
//<p><em>Figure 7. Setting \"Synchronize with real-time\" as default.</em></p>
//<p>Now run the simulation again and you should see the LED blinking until the simulation reaches the stop time. If you want to keep the simulation running continuously, you need to change the stop time to “infinite” as shown in Figure 8.</p>
//<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/StopTime.png\" alt=\"\" /></p>
//<p><em>Figure 8. Setting the stop time to infinite.</em></p>
//<p>If you run the simulation again, you should see the LED blinking continuously.</p>
<p>One thing that you may have noticed is that OpenModelicaEmbedded prints status messages in the simulation log (see Figure 9). The first thing it prints is a list of the available ports. In that list, you should see your current port (A). After that, it prints the current port and the speed used (B). Once the port is opened, you receive a notification that the board is initialized (C). Usually the boards report the version of Firmata that you are running. Then you set the sampling interval that the board uses (D). In this example, you can see that you are setting pin 13 to be an output because you have used the DigitalOutput component (E). Finally you will see that the board will send you a list of all the pins available and thier capabilities (F). This list contains the number of the pin and the modes in which it can be used, for example: DigitalInput, DigitalOutput, AnalogInput, AnalogOutput, and Servo.</p>
<p><img src=\"modelica://OpenModelicaEmbedded/Resources/Images/ModelPlugLog-nomarkers.png\" alt=\"\" /></p>
<p><em>Figure 9. Messages shown by OpenModelicaEmbedded.</em></p>
<h4>Troubleshooting</h4>
<p>This is a checklist that you can follow in order to solve most of the problems that can occur when using the OpenModelicaEmbedded library:</p>
<ol>
<li>Verify that you can upload any Arduino example to your board.</li>
<li>Verify that you have uploaded a StandardFirmata example to your board.</li>
<li>Verify that the port name in the board component matches the port where you have your board connected.</li>
<li>Verify that the port name has quotation marks.</li>
<li>OpenModelica will not connect to the board if there is another application using the port. Verify you do not have other applications using the port.</li>
<li>If the simulation does not start then try uploading the Firmata to your board again.</li>
<li>When using multiple boards, your operating system may have changed the port names. Verify that the port names in the components correspond to each hardware board.</li>
<li>Some boards like the Arduino Leonardo and compatible require the parameter UseDTR set to true. Change the parameter and test your board.</li>
</ol>
<p>If you are still having problems, you can go to <a href=\"https://github.com/manasdas17/OpenModelicaEmbedded\">https://github.com/manasdas17/OpenModelicaEmbedded</a> and ask a question.</p>
<h4>What Next?</h4>
<p>OpenModelicaEmbedded contains a series of basic examples showing the functionality of the components. You can check the Examples under OpenModelicaEmbedded.Examples. Once you have learned how to use the basic components of OpenModelicaEmbedded, you can check the Arduino Playground to learn how to connect other sensors and actuators (<a href=\"http://playground.arduino.cc/\">http://playground.arduino.cc</a>).</p></html>", revisions = ""), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end GettingStarted;
package Pins "Components to access the board I/O"
extends Internal.Icons.Block;
model AnalogInput "Reads an analog signal from the specified pin"
extends OpenModelicaEmbedded.Internal.Icons.Block;
Modelica.Blocks.Interfaces.RealOutput y annotation(Placement(visible = true, transformation(origin = {110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Integer Pin = 0 "Number of the analog pin";
OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation(Placement(visible = true, transformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Real InitValue = 0 "Initial value until the board responds" annotation(Dialog(group = "Initialization"));
parameter Real MinValue = 0 "Minimum value of ADC" annotation(Dialog(group = "Scaling"));
parameter Real MaxValue = 1 "Maximum value of ADC" annotation(Dialog(group = "Scaling"));
parameter Integer adcResolution = 10 "Resolution of the ADC in your microcontroller" annotation(Dialog(group = "Scaling"));
equation
y = OpenModelicaEmbedded.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution);
annotation(Documentation(info = "<html><p>Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.</p>
<p><strong>Signal Range:</strong> By default, the signal goes from 0 to 1 where 0 represents no voltage and 1 the voltage reference of the ADC in the board. This signal can be scaled by setting the 'MinValue' and 'MaxValue' parameters.</p>
<p>Not all pins support analog input. Check the documentation of your board to find the pin capabilities.</p>
<p> </p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10},extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20},extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}));
end AnalogInput;
model AnalogOutput "Writes an analog signal to the specified pin"
extends OpenModelicaEmbedded.Internal.Icons.Block;
Modelica.Blocks.Interfaces.RealInput u annotation(Placement(visible = true, transformation(origin = {-110, -0}, extent = {{-25, -25}, {25, 25}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Integer Pin = 0 "Number of the PWM/DAC pin";
OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation(Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Real MinValue = 0 "Value considered as minimum by the PWM/DAC" annotation(Dialog(group = "Scaling"));
parameter Real MaxValue = 1 "Value considered as maximum by the PWM/DAC" annotation(Dialog(group = "Scaling"));
protected
Real scaled_u = (u - MinValue) / (MaxValue - MinValue);
equation
OpenModelicaEmbedded.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u);
annotation(Documentation(info = "<html><p>Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.</p>
<p><strong>Signal Range:</strong> By default, the signal goes from 0 to 1, where 0 represents no voltage and 1 the maximum voltage that PWM/DAC of your board can provide. This signal can be scaled by setting the 'MinValue' and 'MaxValue' parameters.</p>
<p>Analog outputs use the PWM capabilities of the pins, therefore, they do not provide a continuous signal. If you want to get a continuous signal, you need to add a lowpass filter. Check the Arduino Playground (<a href=\"http://playground.arduino.cc/\">http://playground.arduino.cc</a>) for more information on PWM.</p>
<p>Not all pins support analog output. Check the documentation of your board to find the pin capabilities.</p>
<p> </p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10},extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20},extent = {{-75, -15}, {75, 25}}, textString = "Analog", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}));
end AnalogOutput;
model DigitalInput "Reads a digital signal from the specified pin"
extends OpenModelicaEmbedded.Internal.Icons.Block;
Modelica.Blocks.Interfaces.BooleanOutput y annotation(Placement(visible = true, transformation(origin = {110, 1.643}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {101.75, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Integer Pin = 0 "Number of the digital pin";
parameter Boolean InitValue = false "Initial value until the board responds" annotation(Dialog(group = "Initialization"));
OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation(Placement(visible = true, transformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
y = OpenModelicaEmbedded.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector);
annotation(Documentation(info = "<html><p>Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.</p>
<p><strong>Signal Range:</strong> This component accepts only Boolean signals (true/false).</p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10}, extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20},extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}));
end DigitalInput;
model DigitalOutput "Writes a digital signal to the specified pin"
extends OpenModelicaEmbedded.Internal.Icons.Block;
Modelica.Blocks.Interfaces.BooleanInput u annotation(Placement(visible = true, transformation(origin = {-110, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Integer Pin = 0 "Number of the digital pin";
OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation(Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
OpenModelicaEmbedded.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u);
annotation(Documentation(info = "<html><p>Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.</p>
<p><strong>Signal Range:</strong> This component accepts only Boolean signals (true/false).</p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(origin = {0, 10},extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Output", textStyle = {TextStyle.Bold})}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 170, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(origin = {0, 20},extent = {{-75, -15}, {75, 25}}, textString = "Digital", textStyle = {TextStyle.Bold}), Text(origin = {0, -20}, extent = {{-75, -15}, {75, 25}}, textString = "Input", textStyle = {TextStyle.Bold})}));
end DigitalOutput;
model Servo "Controls a servo motor attached to the specified pin"
extends OpenModelicaEmbedded.Internal.Icons.Block;
Modelica.Blocks.Interfaces.RealInput u annotation(Placement(visible = true, transformation(origin = {-110, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {-100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Internal.Interfaces.PinConnector pinConnector annotation(Placement(visible = true, transformation(origin = {100, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0), iconTransformation(origin = {100, -0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
parameter Integer Pin = 0 "Pin number of the servo";
parameter OpenModelicaEmbedded.Internal.Types.ServoUnit InputUnit "if None (Default) the servo receives a signal between 0 and 1. If Degrees the control signal is from 0 to 180. If Radians the signal is from 0 to Pi.";
parameter Integer MinPulse = 544 "The pulse width, in microseconds, corresponding to the minimum (0-degree) angle on the servo.
(Ignore this parameter if using Tiva C board)" annotation(Dialog(group = "Advanced"));
parameter Integer MaxPulse = 2400 "The pulse width, in microseconds, corresponding to the maximum (180-degree) angle on the servo.
(Ignore this parameter if using Tiva C board)" annotation(Dialog(group = "Advanced"));
Real outputSignal;
equation
outputSignal = if InputUnit == OpenModelicaEmbedded.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaEmbedded.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaEmbedded.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u;
OpenModelicaEmbedded.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse);
annotation(Documentation(info = "<html><p>Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.</p>
<p><strong>Signal Range:</strong> By default, the range goes from 0 to 1, which corresponds to 0 to 180 degrees. If you want to input values in radians, you can change the parameter 'InputUnit' from 'Degrees' to 'Radians'.</p>
<p>If your servo does not work correctly with the default settings, you can set the parameters 'MinPulse' and 'MaxPulse'. To get more information on how to configure a servo, you can check the documentation of the Servo library, <a href=\"http://arduino.cc/en/reference/servo\">http://arduino.cc/en/reference/servo</a>.</p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -85}, {100, 85}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -60}, {90, 60}}, radius = 40), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "Pin %Pin"), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -75}, {100, 75}}, radius = 40), Rectangle(fillColor = {0, 255, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -50}, {90, 50}}, radius = 40), Text(extent = {{-75, -25}, {75, 25}}, textString = "Servo", textStyle = {TextStyle.Bold})}));
end Servo;
annotation(Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, origin = {-30, 30}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50), Rectangle(visible = true, origin = {30, 30}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50), Rectangle(visible = true, origin = {-30, -30}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50), Rectangle(visible = true, origin = {30, -30}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-25, -25}, {25, 25}}, radius = 50)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end Pins;
package Boards "Components to connect to the Firmata boards"
model Arduino "Component with default configuration for Arduino boards"
parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port";
parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board";
parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true";
OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR);
OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation(Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0)));
protected
discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1.";
constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)";
constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board";
equation
when initial() then
BoardId = Internal.ExternalFunctions.getBoardId(board);
end when;
when sample(0, UpdatePeriod) then
OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId);
end when;
boardConnector = BoardId;
annotation(Documentation(info = "<html><p>This component provides a ready-to-use configuration for the Arduino board. This component has been tested with Arduino Uno, Arduino Mega 2560, and Arduino Mini, but it should work with any Arduino board.</p>
<p>When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property 'ShowCapabilities' to false. If you are not sure about the location of a specific pin in your board, you should check the documentation for your board.</p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -30}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Arduino")}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Ellipse(origin = {-8.451, 32.225}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}, endAngle = 360), Ellipse(origin = {21.55, 32.22}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.23}, {15, 12.23}}, endAngle = 360), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Arduino", textStyle = {TextStyle.Bold})}));
end Arduino;
model StandardFirmata "Component with default configuration for any board with the standard Firmata"
parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port";
parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board";
parameter Boolean UseDTR = false "Set to true if your board requires DTR";
OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation(Placement(visible = true, transformation(origin = {-90, -14.401}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0)));
OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR);
protected
discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1.";
constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)";
constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board";
equation
when initial() then
BoardId = Internal.ExternalFunctions.getBoardId(board);
end when;
when sample(0, UpdatePeriod) then
OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId);
end when;
boardConnector = BoardId;
annotation(Documentation(info = "<html><p>This component provides a ready-to-use configuration for boards flashed with the StandardFirmata. This component has been tested with chipKIT UNO and Teensy 3.1, but it should work with any board supporting the StandardFirmata.</p>
<p>When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property 'ShowCapabilities' to False. If you are not sure about the location of an specific pin in your board, you should check the documentation for your board.</p>
<p> </p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {0, 170, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -10}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Standard")}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {0, 170, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Standard", textStyle = {TextStyle.Bold})}));
end StandardFirmata;
model CustomFirmata "Component that allows custom configuration of the Firmata"
parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port";
parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board";
parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true";
OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation(Placement(visible = true, transformation(origin = {-90, -14.401}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0,0}, extent = {{-100, -100}, {100, 100}}, rotation = 0)));
OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR);
parameter Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)";
parameter Integer BaudRate = 57600 "Baud rate used to communicate with the board";
protected
discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1.";
equation
when initial() then
BoardId = Internal.ExternalFunctions.getBoardId(board);
end when;
when sample(0, UpdatePeriod) then
OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId);
end when;
boardConnector = BoardId;
annotation(Documentation(info = "<html><p>This component is for advanced users who can modify the Firmata source code or have a non-Arduino board running Firmata. This component allows you to specify your preferred baud rate and sampling interval. </p>
<p>The baud rate is specified with the 'BaudRate' property. You have to consider that standard serial ports do not support arbitrary baud rates.</p>
<p>When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.</p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {170, 0, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -10}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Custom")}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.56, 9.35}, fillColor = {170, 0, 127}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Custom", textStyle = {TextStyle.Bold})}));
end CustomFirmata;
model ArduinoLeonardo "Component with configuration for Arduino Leonardo boards"
parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port";
parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board";
parameter Boolean UseDTR = true "Some boards like Arduino Leonardo require UseDTR=true";
OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR);
OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation(Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0)));
protected
discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1.";
constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum samplig period of 10 ms (0.01 s)";
constant Integer BaudRate = 57600 "Baud rate used to comunicate with the board";
equation
when initial() then
BoardId = Internal.ExternalFunctions.getBoardId(board);
end when;
when sample(0, UpdatePeriod) then
OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId);
end when;
boardConnector = BoardId;
annotation(Documentation(info = "<html><p>This component provides a ready-to-use configuration for the Arduino Leonardo board. This component works for any board using native USB communication, like the Arduino Esplora.</p>
<p>When running the simulation, you will get a list of the capabilities of every pin. If you want to stop showing the capabilities every time you simulate, you need to set the property "ShowCapabilities" to false.</p></html>", revisions = ""), Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Text(origin = {0, -130}, extent = {{-100, -20}, {100, 20}}, textString = "%Port"), Text(origin = {5, -30}, lineColor = {255, 255, 255}, extent = {{-75, 30}, {75, -30}}, textString = "Leonardo")}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(origin = {10.562, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}, {-85.751, 70.648}}, smooth = Smooth.Bezier), Rectangle(origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Ellipse(origin = {-8.451, 32.225}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}, endAngle = 360), Ellipse(origin = {21.55, 32.22}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.23}, {15, 12.23}}, endAngle = 360), Text(origin = {-5, -15}, lineColor = {255, 255, 255}, extent = {{-75, 25}, {95, -35}}, textString = "Leonardo", textStyle = {TextStyle.Bold})}), Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {10.751, 9.352}, fillColor = {42, 85, 94}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.751, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.475, -85.465}, {-85.751, -89.352}, {74.249, -89.352}, {81.746, -83.29}, {84.249, -76.041}, {84.249, 34.141}, {79.249, 43.202}, {54.249, 43.202}, {52.314, 67.486}, {31.729, 70.648}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {-71.211, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(visible = true, origin = {-79.366, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Rectangle(visible = true, origin = {0.725, 70}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-54.177, -6.186}, {54.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {22.372, -63.814}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-64.177, -6.186}, {64.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {25.52, -30}, fillPattern = FillPattern.Solid, extent = {{-51.029, -13.424}, {51.029, 13.424}}, radius = 10), Rectangle(visible = true, origin = {76.549, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {66.549, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {56.549, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {46.549, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {36.549, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {26.549, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {46.549, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {36.549, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {26.549, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {16.549, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {6.549, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-3.451, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-13.451, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-23.451, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-33.451, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-43.451, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-33.451, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-23.451, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-13.451, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-3.451, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Ellipse(visible = true, origin = {-8.451, 43.801}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}), Ellipse(visible = true, origin = {21.549, 43.801}, lineColor = {255, 255, 255}, fillColor = {42, 85, 94}, fillPattern = FillPattern.Solid, lineThickness = 5, extent = {{-15, -12.225}, {15, 12.225}}), Text(visible = true, origin = {10, 23.151}, extent = {{-40, -10}, {40, 10}}, textString = "Leonardo")}));
end ArduinoLeonardo;
model customBoard
parameter Internal.Types.SerialPort Port = "COM1" "Name of the serial port";
parameter Boolean ShowPinCapabilities = true "Set to true if you want to see the capabilities of the pins in your board";
parameter Boolean UseDTR = false "Some boards like Arduino Leonardo require UseDTR=true";
parameter String BoardName = "[Board Name]" "Name of the development board/Microcontroller you are using";
OpenModelicaEmbedded.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR);
OpenModelicaEmbedded.Internal.Interfaces.BoardConnector boardConnector annotation(Placement(visible = true, transformation(origin = {-90, -12.256}, extent = {{-10, -10}, {10, 10}}, rotation = 0), iconTransformation(origin = {0, 0}, extent = {{-100, -100}, {100, 100}}, rotation = 0)));
protected
discrete Integer BoardId(start = -1) "Board Identifier. Initialized automatically keep as -1.";
constant Modelica.SIunits.Time UpdatePeriod = 0.01 "Sampling interval. The standard Firmata has a maximum sampling period of 10 ms (0.01 s)";
constant Integer BaudRate = 57600 "Baud rate used to communicate with the board";
equation
when initial() then
BoardId = Internal.ExternalFunctions.getBoardId(board);
end when;
when sample(0, UpdatePeriod) then
OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId);
end when;
boardConnector = BoardId;
annotation(Icon(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(fillColor = {0, 85, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, 90}, {95, -70}}, radius = 10), Text(origin = {0, 20}, lineColor = {255, 255, 255}, extent = {{-85, 40}, {85, -40}}, textString = "%BoardName"), Text(origin = {0, -80}, extent = {{-50, 20}, {50, -20}}, textString = "Port: %Port")}), Diagram(coordinateSystem( initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(fillColor = {0, 85, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, 80}, {95, -80}}, radius = 10), Text( lineColor = {255, 255, 255}, extent = {{-85, 35}, {85, -35}}, textString = "%BoardName")}));
end customBoard;
annotation(Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {12.096, 9.352}, fillColor = {0, 128, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-85.75100000000001, 70.648}, {-102.737, 66.761}, {-105.751, 50.648}, {-105.751, -69.352}, {-99.47499999999999, -85.465}, {-85.75100000000001, -89.352}, {74.249, -89.352}, {81.746, -83.29000000000001}, {86.32899999999999, -74.352}, {84.249, 34.141}, {82.185, 50.648}, {74.732, 67.486}, {52.373, 70.648}, {31.729, 70.648}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {-69.67700000000001, 40}, fillColor = {106, 108, 116}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-32.24, -20}, {32.24, 20}}, radius = 10), Rectangle(visible = true, origin = {-77.83199999999999, -45.041}, fillPattern = FillPattern.Solid, extent = {{-25.915, -15.041}, {25.915, 15.041}}, radius = 10), Rectangle(visible = true, origin = {24.177, 70}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-54.177, -6.186}, {54.177, 6.186}}, radius = 10), Rectangle(visible = true, origin = {23.906, -63.814}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-64.17700000000001, -6.186}, {64.17700000000001, 6.186}}, radius = 10), Rectangle(visible = true, origin = {21.91, 0}, fillPattern = FillPattern.Solid, extent = {{-28.09, -25}, {28.09, 25}}, radius = 10), Rectangle(visible = true, origin = {78.083, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {68.083, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {58.083, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {48.083, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {38.083, -63.624}, fillColor = {250, 105, 0}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {28.083, -63.624}, fillColor = {243, 134, 48}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {70.00100000000001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {60.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {50.001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {40.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {30.001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {20.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {10.001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {0.001, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-9.999000000000001, 70}, fillColor = {167, 219, 216}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-19.999, 70}, fillColor = {105, 210, 231}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-31.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-21.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-11.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50), Rectangle(visible = true, origin = {-1.917, -63.624}, fillColor = {204, 208, 224}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, borderPattern = BorderPattern.Engraved, extent = {{-4.118, -3.624}, {4.118, 3.624}}, radius = 50)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end Boards;
package Examples "A collection of examples to help you get started"
extends Modelica.Icons.ExamplesPackage;
model DCMotorWithPWM
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {13, 29}, extent = {{-25, -25}, {25, 25}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {54, 78}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, Pin = 30) annotation(
Placement(visible = true, transformation(origin = {-57, 29}, extent = {{-15, -15}, {15, 15}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation(
Placement(visible = true, transformation(origin = {-45, -23}, extent = {{-13, -13}, {13, 13}}, rotation = 90)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {50, -28}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation(
Placement(visible = true, transformation(origin = {-70, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanConstant booleanConstant2(k = false) annotation(
Placement(visible = true, transformation(origin = {14, -74}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1024, Pin = 23) annotation(
Placement(visible = true, transformation(origin = {-56, 74}, extent = {{-14, -14}, {14, 14}}, rotation = 0)));
equation
connect(analogInput1.y, analogOutput1.u) annotation(
Line(points = {{-42, 74}, {-20, 74}, {-20, 52}, {-90, 52}, {-90, 28}, {-72, 28}, {-72, 30}}, color = {0, 0, 127}));
connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-70, 74}, {-88, 74}, {-88, 92}, {12, 92}, {12, 30}, {14, 30}}));
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-45, -10}, {-44.75, -10}, {-44.75, -2}, {14, -2}, {14, 30}}));
connect(booleanConstant1.y, digitalOutput1.u) annotation(
Line(points = {{-58, -70}, {-46, -70}, {-46, -36}, {-45, -36}}, color = {255, 0, 255}));
connect(booleanConstant2.y, digitalOutput2.u) annotation(
Line(points = {{26, -74}, {50, -74}, {50, -40}, {49, -40}, {49, -38}, {50, -38}}, color = {255, 0, 255}));
connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{50, -18}, {50, 30}, {14, 30}}));
connect(analogOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-42, 30}, {13, 30}, {13, 29}}));
annotation(
uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0")));
end DCMotorWithPWM;
model DCMotorWithPID
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(priority = "High", setPriority = true) annotation(
Placement(visible = true, transformation(origin = {72, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Inertia inertia1(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation(
Placement(visible = true, transformation(origin = {-22, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Inertia inertia2(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation(
Placement(visible = true, transformation(origin = {56, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.SpringDamper springDamper1(c = 20, d = 10, phi_rel0 = 0) annotation(
Placement(visible = true, transformation(origin = {16, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation(
Placement(visible = true, transformation(origin = {-64, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque1(tau_constant = 10) annotation(
Placement(visible = true, transformation(origin = {98, -86}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation(
Placement(visible = true, transformation(origin = {88, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
OpenModelicaEmbedded.Boards.CustomFirmata customFirmata1(BaudRate = 57600, Port = "/dev/ttyACM0", ShowPinCapabilities = true, UpdatePeriod = 0.02, UseDTR = true) annotation(
Placement(visible = true, transformation(origin = {-10, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 512, MinValue = -512, Pin = 5) annotation(
Placement(visible = true, transformation(origin = {46, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(InitValue = 0, MaxValue = 512, MinValue = -512, Pin = 15) annotation(
Placement(visible = true, transformation(origin = {-64, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 512, MinValue = -512, Pin = 6) annotation(
Placement(visible = true, transformation(origin = {-54, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.Sine sine1(amplitude = 512, freqHz = 0.5) annotation(
Placement(visible = true, transformation(origin = {-110, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
equation
connect(sine1.y, analogOutput2.u) annotation(
Line(points = {{-98, 58}, {-64, 58}, {-64, 58}, {-64, 58}}, color = {0, 0, 127}));
connect(analogOutput2.pinConnector, customFirmata1.boardConnector) annotation(
Line(points = {{-44, 58}, {-10, 58}, {-10, 4}}));
connect(analogInput1.y, torque1.tau) annotation(
Line(points = {{-74, 2}, {-84, 2}, {-84, 2}, {-94, 2}, {-94, -86}, {-76, -86}}, color = {0, 0, 127}));
connect(analogInput1.pinConnector, customFirmata1.boardConnector) annotation(
Line(points = {{-54, 2}, {-10, 2}, {-10, 4}}));
connect(speedSensor1.w, analogOutput1.u) annotation(
Line(points = {{88, -25}, {89, -25}, {89, -23}, {88, -23}, {88, 3}, {56, 3}, {56, 1}}, color = {0, 0, 127}));
connect(analogOutput1.pinConnector, customFirmata1.boardConnector) annotation(
Line(points = {{36, 2}, {35.5, 2}, {35.5, 2}, {35, 2}, {35, 4}, {-10, 4}}));
connect(speedSensor1.flange, constantTorque1.flange) annotation(
Line(points = {{88, -46}, {88, -86}}));
connect(inertia2.flange_b, constantTorque1.flange) annotation(
Line(points = {{66, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}}));
connect(torque1.flange, inertia1.flange_a) annotation(
Line(points = {{-54, -86}, {-37, -86}, {-37, -86}, {-32, -86}, {-32, -86}, {-31, -86}, {-31, -86}, {-32, -86}}));
connect(springDamper1.flange_b, inertia2.flange_a) annotation(
Line(points = {{26, -86}, {36, -86}, {36, -86}, {46, -86}, {46, -86}, {46, -86}}));
connect(inertia1.flange_b, springDamper1.flange_a) annotation(
Line(points = {{-12, -86}, {-3, -86}, {-3, -86}, {6, -86}, {6, -86}, {6, -86}}));
annotation(
uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0")));
end DCMotorWithPID;
model DCMotorWithPIDReal
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(priority = "High", setPriority = true) annotation(
Placement(visible = true, transformation(origin = {92, 88}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Inertia inertia1(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation(
Placement(visible = true, transformation(origin = {-22, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.Inertia inertia2(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation(
Placement(visible = true, transformation(origin = {56, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Components.SpringDamper springDamper1(c = 20, d = 10, phi_rel0 = 0) annotation(
Placement(visible = true, transformation(origin = {16, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation(
Placement(visible = true, transformation(origin = {-64, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque1(tau_constant = 10) annotation(
Placement(visible = true, transformation(origin = {98, -86}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation(
Placement(visible = true, transformation(origin = {88, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 90)));
OpenModelicaEmbedded.Boards.CustomFirmata customFirmata1(BaudRate = 57600, Port = "/dev/ttyACM0", ShowPinCapabilities = true, UpdatePeriod = 0.02, UseDTR = true) annotation(
Placement(visible = true, transformation(origin = {-10, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 512, MinValue = -512, Pin = 5) annotation(
Placement(visible = true, transformation(origin = {46, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(InitValue = 0, MaxValue = 512, MinValue = -512, Pin = 15) annotation(
Placement(visible = true, transformation(origin = {-64, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput2(MaxValue = 512, MinValue = -512, Pin = 16) annotation(
Placement(visible = true, transformation(origin = {30, 50}, extent = {{-14, -14}, {14, 14}}, rotation = 0)));
Modelica.Blocks.Interaction.Show.RealValue realValue1 annotation(
Placement(visible = true, transformation(origin = {85, 50}, extent = {{-13, -12}, {13, 12}}, rotation = 0)));
equation
connect(analogInput2.y, realValue1.numberPort) annotation(
Line(points = {{44, 50}, {70, 50}, {70, 50}, {70, 50}}, color = {0, 0, 127}));
connect(analogInput2.pinConnector, customFirmata1.boardConnector) annotation(
Line(points = {{16, 50}, {-10, 50}, {-10, 4}, {-10, 4}}));
connect(analogInput1.y, torque1.tau) annotation(
Line(points = {{-74, 2}, {-84, 2}, {-84, 2}, {-94, 2}, {-94, -86}, {-76, -86}}, color = {0, 0, 127}));
connect(analogInput1.pinConnector, customFirmata1.boardConnector) annotation(
Line(points = {{-54, 2}, {-10, 2}, {-10, 4}}));
connect(speedSensor1.w, analogOutput1.u) annotation(
Line(points = {{88, -25}, {89, -25}, {89, -23}, {88, -23}, {88, 3}, {56, 3}, {56, 1}}, color = {0, 0, 127}));
connect(analogOutput1.pinConnector, customFirmata1.boardConnector) annotation(
Line(points = {{36, 2}, {35.5, 2}, {35.5, 2}, {35, 2}, {35, 4}, {-10, 4}}));
connect(speedSensor1.flange, constantTorque1.flange) annotation(
Line(points = {{88, -46}, {88, -86}}));
connect(inertia2.flange_b, constantTorque1.flange) annotation(
Line(points = {{66, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}}));
connect(torque1.flange, inertia1.flange_a) annotation(
Line(points = {{-54, -86}, {-37, -86}, {-37, -86}, {-32, -86}, {-32, -86}, {-31, -86}, {-31, -86}, {-32, -86}}));
connect(springDamper1.flange_b, inertia2.flange_a) annotation(
Line(points = {{26, -86}, {36, -86}, {36, -86}, {46, -86}, {46, -86}, {46, -86}}));
connect(inertia1.flange_b, springDamper1.flange_a) annotation(
Line(points = {{-12, -86}, {-3, -86}, {-3, -86}, {6, -86}, {6, -86}, {6, -86}}));
annotation(
uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0")));
end DCMotorWithPIDReal;
annotation(Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})));
end Examples;
package ArduinoExamples
extends Modelica.Icons.ExamplesPackage;
package Led
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_led_blue
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation(
Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {61, -21}, extent = {{-21, -21}, {21, 21}}, rotation = 0)));
equation
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, -20}, {60, -20}, {60, -20}, {62, -20}}));
connect(booleanConstant1.y, digitalOutput1.u) annotation(
Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255}));
end arduino_ex1_led_blue;
model arduino_ex2_led_blue_delay
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(enableRealTimeScaling = false) annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 10) annotation(
Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(booleanPulse1.y, digitalOutput1.u) annotation(
Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255}));
connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, -20}, {60, -20}, {60, -20}, {60, -20}}));
end arduino_ex2_led_blue_delay;
model arduino_ex3_led_blue_red
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 11) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 25) annotation(
Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 5, width = 40) annotation(
Placement(visible = true, transformation(origin = {-60, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, 0}, {60, 0}, {60, -20}, {60, -20}}));
connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, -60}, {60, -60}, {60, -20}, {60, -20}}));
connect(booleanPulse2.y, digitalOutput2.u) annotation(
Line(points = {{-38, -60}, {-20, -60}, {-20, -60}, {-20, -60}}, color = {255, 0, 255}));
connect(booleanPulse1.y, digitalOutput1.u) annotation(
Line(points = {{-38, 0}, {-20, 0}, {-20, 0}, {-20, 0}}, color = {255, 0, 255}));
end arduino_ex3_led_blue_red;
model arduino_ex4_led_blink
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 10) annotation(
Placement(visible = true, transformation(origin = {-1.77636e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 4, width = 50) annotation(
Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-19, 51}, extent = {{-13, -13}, {13, 13}}, rotation = 0)));
equation
connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, -20}, {60, -20}}));
connect(booleanPulse1.y, digitalOutput1.u) annotation(
Line(points = {{-38, -20}, {-20, -20}}, color = {255, 0, 255}));
annotation(
uses(OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0")));
end arduino_ex4_led_blink;
end Led;
package Push_button
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_push_button_status
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalInput digitalInput1(Pin = 12) annotation(
Placement(visible = true, transformation(origin = {10, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Interaction.Show.BooleanValue booleanValue1 annotation(
Placement(visible = true, transformation(origin = {80, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(arduino1.boardConnector, digitalInput1.pinConnector) annotation(
Line(points = {{-60, 0}, {-10, 0}}));
connect(digitalInput1.y, booleanValue1.activePort) annotation(
Line(points = {{30, 0}, {58, 0}}, color = {255, 0, 255}));
Modelica.Utilities.Streams.print(String(booleanValue1.activePort));
end arduino_ex1_push_button_status;
model arduino_ex2_led_push_button
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalInput digitalInput1(Pin = 12) annotation(
Placement(visible = true, transformation(origin = {62, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(customBoard1.boardConnector, digitalInput1.pinConnector) annotation(
Line(points = {{0, 0}, {44, 0}, {44, 0}, {42, 0}}));
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-40, 0}, {0, 0}, {0, 0}, {0, 0}}));
connect(digitalInput1.y, digitalOutput1.u) annotation(
Line(points = {{82, 0}, {94, 0}, {94, -40}, {-92, -40}, {-92, 0}, {-80, 0}, {-80, 0}}, color = {255, 0, 255}));
end arduino_ex2_led_push_button;
end Push_button;
package Ldr
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_ldr_read
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 19, adcResolution = 10) annotation(
Placement(visible = true, transformation(origin = {-4.44089e-16, 4.44089e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Interaction.Show.RealValue realValue1(use_numberPort = true) annotation(
Placement(visible = true, transformation(origin = {60, -8.88178e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(analogInput1.y, realValue1.numberPort) annotation(
Line(points = {{20, 0}, {37, 0}}, color = {0, 0, 127}));
connect(arduino1.boardConnector, analogInput1.pinConnector) annotation(
Line(points = {{-60, 0}, {-20, 0}, {-20, 0}, {-20, 0}}));
Modelica.Utilities.Streams.print(String(realValue1.numberPort));
annotation(
uses(Modelica(version = "3.2.2")));
end arduino_ex1_ldr_read;
model arduino_ex2_ldr_led
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 19) annotation(
Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.Constant const(k = 300) annotation(
Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0)));
Modelica.Blocks.Logical.Less less1 annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation(
Line(points = {{0, 20}, {40, 20}, {40, 20}, {40, 20}}));
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-40, 20}, {0, 20}, {0, 20}, {0, 20}}));
connect(const.y, less1.u2) annotation(
Line(points = {{38, -70}, {32, -70}, {32, -56}, {24, -56}}, color = {0, 0, 127}));
connect(less1.y, digitalOutput1.u) annotation(
Line(points = {{-22, -40}, {-92, -40}, {-92, 20}, {-80, 20}}, color = {255, 0, 255}));
connect(analogInput1.y, less1.u1) annotation(
Line(points = {{80, 20}, {90, 20}, {90, -40}, {24, -40}}, color = {0, 0, 127}));
end arduino_ex2_ldr_led;
end Ldr;
package DC_motor
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_dcmotor_clock
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Constant const(k = 0) annotation(
Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 20, startTime = 5, width = 15) annotation(
Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}}));
connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, 20}, {60, 20}, {60, 0}, {60, 0}, {60, 0}}));
connect(const.y, analogOutput2.u) annotation(
Line(points = {{-38, -40}, {-22, -40}, {-22, -40}, {-20, -40}}, color = {0, 0, 127}));
connect(pulse1.y, analogOutput1.u) annotation(
Line(points = {{-38, 20}, {-22, 20}, {-22, 20}, {-20, 20}}, color = {0, 0, 127}));
end arduino_ex1_dcmotor_clock;
model arduino_ex2_dcmotor_both
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 20, startTime = 5, width = 15) annotation(
Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Pulse pulse2(amplitude = 255, period = 20, startTime = 8, width = 10) annotation(
Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(pulse2.y, analogOutput2.u) annotation(
Line(points = {{-38, -40}, {-20, -40}, {-20, -40}, {-20, -40}}, color = {0, 0, 127}));
connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}}));
connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, 20}, {60, 20}, {60, 0}, {60, 0}, {60, 0}}));
connect(pulse1.y, analogOutput1.u) annotation(
Line(points = {{-38, 20}, {-22, 20}, {-22, 20}, {-20, 20}}, color = {0, 0, 127}));
end arduino_ex2_dcmotor_both;
model arduino_ex3_dcmotor_loop
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput1(MaxValue = 255, MinValue = 0, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 18}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogOutput analogOutput2(MaxValue = 255, MinValue = 0, Pin = 10) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Pulse pulse1(amplitude = 255, period = 10, startTime = 5, width = 30) annotation(
Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Pulse pulse2(amplitude = 255, period = 10, startTime = 10, width = 20) annotation(
Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(pulse1.y, analogOutput1.u) annotation(
Line(points = {{-38, 20}, {-20, 20}, {-20, 18}}, color = {0, 0, 127}));
connect(analogOutput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, 18}, {20, 39}, {60, 39}, {60, 0}}));
connect(pulse2.y, analogOutput2.u) annotation(
Line(points = {{-38, -40}, {-20, -40}, {-20, -40}, {-20, -40}}, color = {0, 0, 127}));
connect(analogOutput2.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, -40}, {60, -40}, {60, 0}, {60, 0}}));
end arduino_ex3_dcmotor_loop;
end DC_motor;
package Potentiometer
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_pot_threshold
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 16, adcResolution = 10) annotation(
Placement(visible = true, transformation(origin = {30, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-50, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 10) annotation(
Placement(visible = true, transformation(origin = {-50, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold1(threshold = 0) annotation(
Placement(visible = true, transformation(origin = {70, 10}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold2(threshold = 320) annotation(
Placement(visible = true, transformation(origin = {70, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Blocks.Logical.GreaterEqualThreshold greaterEqualThreshold3(threshold = 900) annotation(
Placement(visible = true, transformation(origin = {70, -70}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Blocks.Logical.Xor xor1 annotation(
Placement(visible = true, transformation(origin = {30, -10}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
Modelica.Blocks.Logical.Xor xor2 annotation(
Placement(visible = true, transformation(origin = {30, -50}, extent = {{10, -10}, {-10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput3(Pin = 11) annotation(
Placement(visible = true, transformation(origin = {-50, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-10, 50}, extent = {{-14, -14}, {14, 14}}, rotation = 0)));
equation
connect(analogInput1.y, greaterEqualThreshold3.u) annotation(
Line(points = {{40, 50}, {94, 50}, {94, -70}, {82, -70}}, color = {0, 0, 127}));
connect(analogInput1.y, greaterEqualThreshold2.u) annotation(
Line(points = {{40, 50}, {94, 50}, {94, -30}, {82, -30}}, color = {0, 0, 127}));
connect(analogInput1.y, greaterEqualThreshold1.u) annotation(
Line(points = {{40, 50}, {94, 50}, {94, 10}, {82, 10}}, color = {0, 0, 127}));
connect(analogInput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, 50}, {-10, 50}}));
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-40, 90}, {-10, 90}, {-10, 50}}));
connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-40, 50}, {-10, 50}}));
connect(digitalOutput3.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{-40, 10}, {-10, 10}, {-10, 50}}));
connect(xor1.y, digitalOutput3.u) annotation(
Line(points = {{20, -10}, {-72, -10}, {-72, 10}, {-60, 10}, {-60, 10}}, color = {255, 0, 255}));
connect(xor2.y, digitalOutput2.u) annotation(
Line(points = {{20, -50}, {-80, -50}, {-80, 50}, {-60, 50}, {-60, 50}}, color = {255, 0, 255}));
connect(greaterEqualThreshold3.y, digitalOutput1.u) annotation(
Line(points = {{60, -70}, {-90, -70}, {-90, 90}, {-60, 90}, {-60, 90}}, color = {255, 0, 255}));
connect(greaterEqualThreshold3.y, xor2.u2) annotation(
Line(points = {{60, -70}, {52, -70}, {52, -58}, {42, -58}, {42, -58}, {42, -58}}, color = {255, 0, 255}));
connect(greaterEqualThreshold2.y, xor2.u1) annotation(
Line(points = {{60, -30}, {52, -30}, {52, -50}, {42, -50}, {42, -50}}, color = {255, 0, 255}));
connect(greaterEqualThreshold2.y, xor1.u2) annotation(
Line(points = {{60, -30}, {52, -30}, {52, -18}, {42, -18}, {42, -18}}, color = {255, 0, 255}));
connect(greaterEqualThreshold1.y, xor1.u1) annotation(
Line(points = {{60, 10}, {50, 10}, {50, -10}, {42, -10}, {42, -10}}, color = {255, 0, 255}));
annotation(
uses(OpenModelicaEmbedded(version = "1.2")));
end arduino_ex1_pot_threshold;
end Potentiometer;
package Thermistor
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_therm_read
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) annotation(
Placement(visible = true, transformation(origin = {-4.44089e-16, 4.44089e-16}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Arduino UNO", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-59, -1}, extent = {{-21, -21}, {21, 21}}, rotation = 0)));
equation
connect(customBoard1.boardConnector, analogInput1.pinConnector) annotation(
Line(points = {{-58, 0}, {-20, 0}, {-20, 0}, {-20, 0}}));
Modelica.Utilities.Streams.print(String(analogInput1.y));
end arduino_ex1_therm_read;
model arduino_ex2_therm_buzzer
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 3) annotation(
Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 18) annotation(
Placement(visible = true, transformation(origin = {60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.Constant const(k = 500) annotation(
Placement(visible = true, transformation(origin = {60, -70}, extent = {{20, -20}, {-20, 20}}, rotation = 0)));
Modelica.Blocks.Logical.Greater greater1 annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -40}, extent = {{20, -20}, {-20, 20}}, rotation = 0)));
Modelica.Blocks.Interaction.Show.RealValue realValue1 annotation(
Placement(visible = true, transformation(origin = {40, 60}, extent = {{20, -20}, {-20, 20}}, rotation = 0)));
equation
connect(analogInput1.y, realValue1.numberPort) annotation(
Line(points = {{80, 20}, {90, 20}, {90, 60}, {64, 60}, {64, 60}}, color = {0, 0, 127}));
connect(greater1.y, digitalOutput1.u) annotation(
Line(points = {{-22, -40}, {-94, -40}, {-94, 20}, {-80, 20}, {-80, 20}}, color = {255, 0, 255}));
connect(analogInput1.y, greater1.u1) annotation(
Line(points = {{80, 20}, {92, 20}, {92, -40}, {24, -40}, {24, -40}}, color = {0, 0, 127}));
connect(greater1.u2, const.y) annotation(
Line(points = {{24, -56}, {32, -56}, {32, -70}, {38, -70}, {38, -70}}, color = {0, 0, 127}));
connect(arduino1.boardConnector, analogInput1.pinConnector) annotation(
Line(points = {{0, 20}, {40, 20}}));
connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{-40, 20}, {0, 20}}));
Modelica.Utilities.Streams.print(String(realValue1.numberPort));
annotation(
uses(Modelica(version = "3.2.2")));
end arduino_ex2_therm_buzzer;
end Thermistor;
package Servo_motor
extends Modelica.Icons.ExamplesPackage;
model arduino_ex1_servo_init
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {78, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {20, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Constant const(k = 0.1667) annotation(
Placement(visible = true, transformation(origin = {-40, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(const.y, servo1.u) annotation(
Line(points = {{-18, 20}, {-4, 20}, {-4, 20}, {0, 20}}, color = {0, 0, 127}));
connect(servo1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{40, 20}, {76, 20}, {76, 18}, {78, 18}, {78, 20}}));
annotation(
uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2")));
end arduino_ex1_servo_init;
model arduino_ex2_servo_reverse
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {20, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Pulse pulse2(amplitude = 0.5, offset = 0.5, period = 2, startTime = 6, width = 50) annotation(
Placement(visible = true, transformation(origin = {-80, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Math.Product product1 annotation(
Placement(visible = true, transformation(origin = {-40, 1.77636e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Constant const(k = 0.5) annotation(
Placement(visible = true, transformation(origin = {-80, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(const.y, product1.u1) annotation(
Line(points = {{-58, 60}, {-36, 60}, {-36, 24}, {-80, 24}, {-80, 10}, {-64, 10}, {-64, 12}}, color = {0, 0, 127}));
connect(pulse2.y, product1.u2) annotation(
Line(points = {{-58, -60}, {-48, -60}, {-48, -24}, {-80, -24}, {-80, -12}, {-64, -12}, {-64, -12}}, color = {0, 0, 127}));
connect(product1.y, servo1.u) annotation(
Line(points = {{-18, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127}));
connect(servo1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{40, 0}, {78, 0}}));
annotation(
uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2")));
end arduino_ex2_servo_reverse;
model arduino_ex3_servo_loop
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {70, 70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {20, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.Ramp ramp1(duration = 10, height = 10, startTime = 5) annotation(
Placement(visible = true, transformation(origin = {-90, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Math.RealToInteger realToInteger1 annotation(
Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Sources.Constant const(k = 0.11) annotation(
Placement(visible = true, transformation(origin = {-70, 68}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Math.Product product1 annotation(
Placement(visible = true, transformation(origin = {-28, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
Modelica.Blocks.Math.IntegerToReal integerToReal1 annotation(
Placement(visible = true, transformation(origin = {-10, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
equation
connect(integerToReal1.y, product1.u2) annotation(
Line(points = {{2, -70}, {14, -70}, {14, -36}, {-56, -36}, {-56, -6}, {-40, -6}, {-40, -6}}, color = {0, 0, 127}));
connect(realToInteger1.y, integerToReal1.u) annotation(
Line(points = {{-38, -70}, {-22, -70}, {-22, -70}, {-22, -70}}, color = {255, 127, 0}));
connect(ramp1.y, realToInteger1.u) annotation(
Line(points = {{-78, -70}, {-62, -70}}, color = {0, 0, 127}));
connect(const.y, product1.u1) annotation(
Line(points = {{-58, 68}, {-52, 68}, {-52, 6}, {-40, 6}, {-40, 6}}, color = {0, 0, 127}));
connect(product1.y, servo1.u) annotation(
Line(points = {{-16, 0}, {0, 0}, {0, 0}, {0, 0}}, color = {0, 0, 127}));
connect(servo1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{40, 0}, {78, 0}}));
annotation(
uses(Modelica_DeviceDrivers(version = "1.5.0"), OpenModelicaEmbedded(version = "1.2"), Modelica(version = "3.2.2")));
end arduino_ex3_servo_loop;
model arduino_ex4_servo_pot
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, 3.10862e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.Servo servo1(InputUnit = OpenModelicaEmbedded.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 9) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 1, MinValue = 0, Pin = 16) annotation(
Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(analogInput1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{-80, 0}, {-92, 0}, {-92, -52}, {60, -52}, {60, 0}, {60, 0}}));
connect(servo1.pinConnector, arduino1.boardConnector) annotation(
Line(points = {{20, 0}, {62, 0}, {62, 0}, {60, 0}, {60, 0}}));
connect(analogInput1.y, servo1.u) annotation(
Line(points = {{-40, 0}, {-16, 0}, {-16, 0}, {-20, 0}}, color = {0, 0, 127}));
annotation(
uses(OpenModelicaEmbedded(version = "1.2"), Modelica_DeviceDrivers(version = "1.5.0")));
end arduino_ex4_servo_pot;
end Servo_motor;
end ArduinoExamples;
package TivaC_Examples
extends Modelica.Icons.ExamplesPackage;
package Led
extends Modelica.Icons.ExamplesPackage;
model tivac_ex1_led_blue
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 40) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanConstant booleanConstant1(k = true) annotation(
Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Boards.customBoard customBoard1(BoardName = "Tiva C", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {61, -21}, extent = {{-21, -21}, {21, 21}}, rotation = 0)));
equation
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, -20}, {60, -20}, {60, -20}, {62, -20}}));
connect(booleanConstant1.y, digitalOutput1.u) annotation(
Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255}));
end tivac_ex1_led_blue;
model tivac_ex2_led_blue_delay
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 40) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(enableRealTimeScaling = false) annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20, startTime = 5, width = 10) annotation(
Placement(visible = true, transformation(origin = {-60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Boards.customBoard customBoard1(BoardName = "Tiva C", Port = "/dev/ttyACM0") annotation(
Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, -20}, {60, -20}, {60, -20}, {60, -20}}));
connect(booleanPulse1.y, digitalOutput1.u) annotation(
Line(points = {{-38, -20}, {-20, -20}, {-20, -20}, {-20, -20}}, color = {255, 0, 255}));
end tivac_ex2_led_blue_delay;
model tivac_ex3_led_blue_red
extends Modelica.Icons.Example;
Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation(
Placement(visible = true, transformation(origin = {-60, 60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 40) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput2(Pin = 30) annotation(
Placement(visible = true, transformation(origin = {-3.55271e-15, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 0, width = 50) annotation(
Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 2, startTime = 1, width = 50) annotation(
Placement(visible = true, transformation(origin = {-60, -60}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
OpenModelicaEmbedded.Boards.customBoard customBoard1(BoardName = "Tiva C", Port = "COM6") annotation(
Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
equation
connect(digitalOutput1.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, 0}, {60, 0}, {60, -20}, {60, -20}}));
connect(digitalOutput2.pinConnector, customBoard1.boardConnector) annotation(
Line(points = {{20, -60}, {60, -60}, {60, -20}, {60, -20}}));
connect(booleanPulse2.y, digitalOutput2.u) annotation(
Line(points = {{-38, -60}, {-20, -60}, {-20, -60}, {-20, -60}}, color = {255, 0, 255}));
connect(booleanPulse1.y, digitalOutput1.u) annotation(
Line(points = {{-38, 0}, {-20, 0}, {-20, 0}, {-20, 0}}, color = {255, 0, 255}));
end tivac_ex3_led_blue_red;
model tivac_ex4_led_blink
extends Modelica.Icons.Example;
OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput1(Pin = 39) annotation(
Placement(visible = true, transformation(origin = {-1.77636e-15, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0)));
Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 4, width = 50) annotation(