![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/FirmataLocation.png\")
.
-.
-The first thing you need to do is upload the Firmware code to your board .
-
Figure 1. Location of the Firmware sketch.
-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.
- Important instructions for using above mentioned firmware “pidmata3.ino“:
-
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 OpenModelicaArduino 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.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/SerialPortLocation.png\")
Figure 2. Finding the serial port being used.
-As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:
-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 OpenModelicaArduino can use multiple boards with multiple pins at the same time.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/BlinkingLEDModel.png\")
Figure 3. Diagram of the blinking LED.
-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.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/QuotedSerialPort.png\")
Figure 4. Specifying the serial port name.
-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.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/PinNumber.png\")
Figure 5. Specifying the pin to use.
-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.
-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 OpenModelicaArduino, 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.
- // ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/SynchronizeSetting.png\")
Figure 6. Synchronizing your simulation with real time.
- //If you are building many models with the OpenModelicaArduino 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).
- //![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/DefaultSynchronize.png\")
Figure 7. Setting \"Synchronize with real-time\" as default.
- //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.
- //![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/StopTime.png\")
Figure 8. Setting the stop time to infinite.
- //If you run the simulation again, you should see the LED blinking continuously.
-One thing that you may have noticed is that OpenModelicaArduino 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.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/ModelPlugLog-nomarkers.png\")
Figure 9. Messages shown by OpenModelicaArduino.
-This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:
-If you are still having problems, you can go to http://community.wolfram.com and ask a question.
-OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).
", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); - annotation( - Documentation(info = "Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.
-Signal Range: 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.
-Not all pins support analog input. Check the documentation of your board to find the pin capabilities.
-", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u); - annotation( - Documentation(info = "
Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.
-Signal Range: 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.
-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 (http://playground.arduino.cc) for more information on PWM.
-Not all pins support analog output. Check the documentation of your board to find the pin capabilities.
-", 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 OpenModelicaArduino.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")); - OpenModelicaArduino.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 = OpenModelicaArduino.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector); - annotation( - Documentation(info = "
Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u); - annotation( - Documentation(info = "Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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 OpenModelicaArduino.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))); - OpenModelicaArduino.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 OpenModelicaArduino.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 == OpenModelicaArduino.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u; - OpenModelicaArduino.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse); - annotation( - Documentation(info = "Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.
-Signal Range: 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'.
-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, http://arduino.cc/en/reference/servo.
", 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"; - OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation( - Documentation(info = "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.
-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.
", 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"; - OpenModelicaArduino.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))); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation( - Documentation(info = "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.
-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.
-", 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"; - OpenModelicaArduino.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))); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation( - Documentation(info = "
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.
-The baud rate is specified with the 'BaudRate' property. You have to consider that standard serial ports do not support arbitrary baud rates.
-When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.
", 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"; - OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation( - Documentation(info = "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.
-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.
", 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 BlinkLed "Basic example of blinking an LED" - extends Modelica.Icons.Example; - replaceable OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true, UseDTR = false) annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 30) annotation( - Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {35, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); - connect(booleanPulse.y, digitalOutput.u) annotation( - Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); - annotation( - experiment(StopTime = 10, Interval = 0.001), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
-You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-![\"\"/](\"modelica://OpenModelicaArduino/Resources/Images/Blink.png\")
This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/Dimming.png\")
You can check the Arduino Playground to know more about PWM outputs.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end DimmingLed; - - model ReadSensor "Reading analog signals" - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(Pin = 16) annotation( - Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Greater greater1 annotation( - Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation( - Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(greater1.y, digitalOutput.u) annotation( - Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); - connect(analogInput1.y, greater1.u1) annotation( - Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); - connect(analogInput1.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); - connect(Reference.y, greater1.u2) annotation( - Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); - annotation( - experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example shows how to read an analog voltage using the AnalogInput component. The analog signal is then compared to a reference, and if the signal is above the reference, it will turn on an LED. You can see in the following figure how to build this example.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/ReadAnalog.png\")
You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.
-Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.
-The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end ReadSensor; - - model MoveServo "Using servos" - extends Modelica.Icons.Example; - Boards.Arduino arduino(Port = "COM1") annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.Servo servo(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(expSine.y, servo.u) annotation( - Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); - connect(servo.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.
-For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/ServoExample.png\")
Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end MoveServo; - - model SimpleONOFF "A simple On/Off controller" - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 3.3 * 100, Pin = 23, adcResolution = 12) annotation( - Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 40) annotation( - Placement(visible = true, transformation(origin = {35, -25}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica.Blocks.Math.Add add1(k2 = +1, k1 = -1) annotation( - Placement(visible = true, transformation(origin = {-0, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 30) annotation( - Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Hysteresis hysteresis(uLow = -1, uHigh = 1) annotation( - Placement(visible = true, transformation(origin = {-30, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {42.5, 42.5}, extent = {{-7.5, -7.5}, {7.5, 7.5}}, rotation = 0))); - equation - connect(hysteresis.u, add1.y) annotation( - Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); - connect(digitalOutput.u, hysteresis.y) annotation( - Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); - connect(add1.u2, Reference.y) annotation( - Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); - connect(analogInput1.y, add1.u1) annotation( - Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); - connect(arduino.boardConnector, analogInput1.pinConnector) annotation( - Line(visible = true, origin = {10, 15}, points = {{-10, 0}, {10, 0}})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.
![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/SimpleONOFF.png\")
The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.
"), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end SimpleONOFF; - - model UsingArduinoLeonardo "Basic example of blinking an LED" - extends OpenModelicaArduino.Examples.BlinkLed(redeclare ModelPlug.Boards.ArduinoLeonardo arduino); - annotation( - experiment(StopTime = 10, Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Documentation(info = "This example shows how the - Blink Led can be used with an Arduino Leonardo.
", revisions = "")); - end UsingArduinoLeonardo; - - model UsingCustomBoard "Using a Firmata-compatible board" - extends Modelica.Icons.Example; - Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 13) annotation( - Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Boards.CustomFirmata customFirmata(Port = "COM1", BaudRate = 115200, UpdatePeriod = 0.001) annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-30, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(digitalOutput.pinConnector, customFirmata.boardConnector) annotation( - Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}})); - connect(booleanPulse.y, digitalOutput.u) annotation( - Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "- 1 Teensy 3.1 board
-This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/CustomExample.png\")
The main difference of the CustomFirmata component is that it allows you to set the baud rate to the sampling interval that you want to use. In this case the oce of the StandardFirmata is modified to use a baud rate of 115200. You can perform this modification in the source code. Search for the line:
Firmata.Begin(57600);
-and changing it to
-Firmata.Begin(115200);
-This initializes the serial port at the given speed. The next change that you can make is reducing the minimum sampling interval. You can find this tweak by searching in the code the text:
-#define MINIMUM_SAMPLING_INTERVAL 10
-and changing it to
-#define MINIMUM_SAMPLING_INTERVAL 1
-This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/Interval.png\")
This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
-You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/StandardFirmata.png\")
ModelPlug is a library that allows you to connect your simulations with the real world. It uses an Arduino board (or compatible) to send analog and digital signals to physical devices and receive signals from them.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/ModelPlugDocumentation-1.png\")
-
With ModelPlug, you can combine simulation models and real hardware. For example, you can get data from your hardware, design a control, and test it in real time.
--
![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/ModelPlugDocumentation-2.png\")
You can build a real control panel and use it to control your simulation models.
-![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/ModelPlugDocumentation-3.png\")
ModelPlug provides the following components:
-| - | Inputs | -- |
| Analog input | -Reads analog values from the pins | -![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/analogInput.png\") |
-
| Digital input | -Reads digital values from the pins | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/digitalInput.png\") |
-
| - | Output | -- |
| Analog output | -Writes analog values to the pins | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/analogOutput.png\") |
-
| Digital output | -Writes digital values to the pins | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/digitalOutput.png\") |
-
| Servo control | -Writes the angle to servo motors | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/servo.png\") |
-
| - | Board Handlers | -- |
| Arduino | -Connects to Arduino boards like Arduino Uno, Arduino Mega 2560 | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/arduino.png\") |
-
| Arduino Leonardo | -Connects to Arduino Leonardo boards and boards using native USB | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/arduinoLeonardo.png\") |
-
| StandardFirmata | -Connects to Arduino-compatible boards | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/standard.png\") |
-
| CustomFirmata | -Connects to any board supporting Firmata | - ![\"\"](\"modelica://OpenModelicaArduino/Resources/Images/custom.png\") |
-
ModelPlug connects with the boards using USB serial communication. In order to configure, read, and write to the board, ModelPlug uses the Firmata protocol v2.3 (http://www.firmata.org). This protocol allows you to connect not only to Arduinos, but also to many boards compatible with Arduino. Examples of other boards supporting the Firmata protocol are:
-ModelPlug wraps the functionality of Firmata by providing easy-to-use Modelica models that you can connect in your simulations.
-ModelPlug requires a board with Firmata Version 2.3 or higher.
-Currently ModelPlug does not support sensors that communicate through I2C or SPI with the board.
-The minimum synchronization interval is 1 ms; therefore, ModelPlug cannot have a sampling interval smaller than that. The standard Firmata allows a minimum sampling interval of 10 ms.
ModelPlug uses a serial protocol; therefore, the transfer speed is constrained by the serial port speed. This can be problematic when reading or writing too many inputs/outputs with a small sampling interval.
Ask questions about SystemModeler and ModelPlug
- -Find out how to connect sensors and actuators to the Arduino
- -Get details about the Firmata protocol
- -The breadboard diagrams were created using Fritzing
- --
-
", revisions = ""), - version = "1.2", - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}), graphics = {Rectangle(visible = true, fillColor = {190, 53, 19}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}, radius = 25), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {255, 255, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {30.028, 54.643}, {-12.143, 59.643}, {-37.143, 44.643}, {-50.141, 26.339}, {-55.168, 4.643}, {-52.143, -20.357}, {-42.143, -42.453}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {50, 27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Rectangle(visible = true, origin = {50, -27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Polygon(visible = true, origin = {-23.077, -0.385}, fillColor = {191, 191, 191}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{38.077, 50.385}, {38.077, 55.385}, {33.077, 55.385}, {-6.923, 55.385}, {-26.923, 45.385}, {-41.923, 30.385}, {-50.213, 0.385}, {-41.923, -29.615}, {-26.923, -44.615}, {-6.923, -54.615}, {33.077, -54.615}, {38.077, -54.615}, {38.077, -49.615}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, lineColor = {128, 128, 128}, fillColor = {128, 128, 128}, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier)}), - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), - uses(Modelica_DeviceDrivers(version = "1.5.0"), Modelica(version = "3.2.2"))); -end OpenModelicaEmbedded; diff --git a/Examples.mo b/Examples.mo deleted file mode 100644 index 28a3f29..0000000 --- a/Examples.mo +++ /dev/null @@ -1,374 +0,0 @@ - package Examples "A collection of examples to help you get started" - extends Modelica.Icons.ExamplesPackage; - - model BlinkLed "Basic example of blinking an LED" - extends Modelica.Icons.Example; - replaceable OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true, UseDTR = false) annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 30) annotation( - Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {35, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); - connect(booleanPulse.y, digitalOutput.u) annotation( - Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); - annotation( - experiment(StopTime = 10, Interval = 0.001), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "
This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
-You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-
This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.
-
You can check the Arduino Playground to know more about PWM outputs.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end DimmingLed; - - model ReadSensor "Reading analog signals" - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(Pin = 16) annotation( - Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Greater greater1 annotation( - Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation( - Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(greater1.y, digitalOutput.u) annotation( - Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); - connect(analogInput1.y, greater1.u1) annotation( - Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); - connect(analogInput1.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); - connect(Reference.y, greater1.u2) annotation( - Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); - annotation( - experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example shows how to read an analog voltage using the AnalogInput component. The analog signal is then compared to a reference, and if the signal is above the reference, it will turn on an LED. You can see in the following figure how to build this example.
-
You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.
-Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.
-The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end ReadSensor; - - model MoveServo "Using servos" - extends Modelica.Icons.Example; - Boards.Arduino arduino(Port = "COM1") annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.Servo servo(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(expSine.y, servo.u) annotation( - Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); - connect(servo.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.
-For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).
-
Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end MoveServo; - - model SimpleONOFF "A simple On/Off controller" - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 3.3 * 100, Pin = 23, adcResolution = 12) annotation( - Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 40) annotation( - Placement(visible = true, transformation(origin = {35, -25}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica.Blocks.Math.Add add1(k2 = +1, k1 = -1) annotation( - Placement(visible = true, transformation(origin = {-0, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 30) annotation( - Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Hysteresis hysteresis(uLow = -1, uHigh = 1) annotation( - Placement(visible = true, transformation(origin = {-30, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {42.5, 42.5}, extent = {{-7.5, -7.5}, {7.5, 7.5}}, rotation = 0))); - equation - connect(hysteresis.u, add1.y) annotation( - Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); - connect(digitalOutput.u, hysteresis.y) annotation( - Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); - connect(add1.u2, Reference.y) annotation( - Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); - connect(analogInput1.y, add1.u1) annotation( - Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); - connect(arduino.boardConnector, analogInput1.pinConnector) annotation( - Line(visible = true, origin = {10, 15}, points = {{-10, 0}, {10, 0}})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.
The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.
"), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end SimpleONOFF; - - model UsingArduinoLeonardo "Basic example of blinking an LED" - extends OpenModelicaArduino.Examples.BlinkLed(redeclare ModelPlug.Boards.ArduinoLeonardo arduino); - annotation( - experiment(StopTime = 10, Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Documentation(info = "This example shows how the - Blink Led can be used with an Arduino Leonardo.
", revisions = "")); - end UsingArduinoLeonardo; - - model UsingCustomBoard "Using a Firmata-compatible board" - extends Modelica.Icons.Example; - Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 13) annotation( - Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Boards.CustomFirmata customFirmata(Port = "COM1", BaudRate = 115200, UpdatePeriod = 0.001) annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-30, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(digitalOutput.pinConnector, customFirmata.boardConnector) annotation( - Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}})); - connect(booleanPulse.y, digitalOutput.u) annotation( - Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "- 1 Teensy 3.1 board
-This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.
-
The main difference of the CustomFirmata component is that it allows you to set the baud rate to the sampling interval that you want to use. In this case the oce of the StandardFirmata is modified to use a baud rate of 115200. You can perform this modification in the source code. Search for the line:
Firmata.Begin(57600);
-and changing it to
-Firmata.Begin(115200);
-This initializes the serial port at the given speed. The next change that you can make is reducing the minimum sampling interval. You can find this tweak by searching in the code the text:
-#define MINIMUM_SAMPLING_INTERVAL 10
-and changing it to
-#define MINIMUM_SAMPLING_INTERVAL 1
-This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.
-
This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
-You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-
.
-.
-The first thing you need to do is upload the Firmware code to your board .
-
Figure 1. Location of the Firmware sketch.
-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.
- Important instructions for using above mentioned firmware “pidmata3.ino“:
-
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 OpenModelicaArduino 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.
-
Figure 2. Finding the serial port being used.
-As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:
-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 OpenModelicaArduino can use multiple boards with multiple pins at the same time.
-
Figure 3. Diagram of the blinking LED.
-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.
-
Figure 4. Specifying the serial port name.
-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.
-
Figure 5. Specifying the pin to use.
-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.
-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 OpenModelicaArduino, 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.
- //
Figure 6. Synchronizing your simulation with real time.
- //If you are building many models with the OpenModelicaArduino 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).
- //
Figure 7. Setting \"Synchronize with real-time\" as default.
- //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.
- //
Figure 8. Setting the stop time to infinite.
- //If you run the simulation again, you should see the LED blinking continuously.
-One thing that you may have noticed is that OpenModelicaArduino 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.
-
Figure 9. Messages shown by OpenModelicaArduino.
-This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:
-If you are still having problems, you can go to http://community.wolfram.com and ask a question.
-OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).
", revisions = ""), - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); - end GettingStarted; \ No newline at end of file diff --git a/Internal.mo b/Internal.mo deleted file mode 100644 index f118d8f..0000000 --- a/Internal.mo +++ /dev/null @@ -1,164 +0,0 @@ - package Internal "Internal classes that should not be used directly by the user" - extends Modelica.Icons.Package; - - package Icons "Icons used in ModelPlug" - extends Modelica.Icons.IconsPackage; - - partial model Block "Icon for blocks" - annotation( - experiment(NumberOfIntervals = -1), - preferredView = "icon", - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Rectangle(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -80}, {100, 80}}, radius = 40), Rectangle(visible = true, origin = {5, -5}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-95, -75}, {95, 75}}, radius = 40), Rectangle(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-90, -70}, {90, 70}}, radius = 30)}), - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); - end Block; - annotation( - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); - end Icons; - - package ExternalFunctions "External functions used to communicate with the boards" - extends Modelica.Icons.Package; - - function readAnalogPin - input Integer pin; - input Real min; - input Real max; - input Real init; - input Integer board; - input Integer adcResolution; - output Real value; - - external "C" value = readAnalogPin(pin, min, max, init, board, adcResolution) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end readAnalogPin; - - class FirmataBoardObject - extends ExternalObject; - - function constructor "Function that call the external constructor" - input String port; - input Boolean showCapabilities; - input Integer samplingMs; - input Integer BaudRate; - input Boolean UseDTR; - output FirmataBoardObject board; - - external "C" board = boardConstructor(port, showCapabilities, samplingMs, BaudRate, UseDTR) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end constructor; - - function destructor "Function to destroy the object" - input FirmataBoardObject board; - - external "C" boardDestructor(board) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end destructor; - end FirmataBoardObject; - - function getBoardId - input FirmataBoardObject board; - output Integer id; - - external "C" id = getBoardId(board) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end getBoardId; - - function readDigitalPin - input Integer pin; - input Boolean init; - input Integer board; - output Boolean value; - - external "C" value = readDigitalPin(pin, init, board) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end readDigitalPin; - - function writeAnalogPin - input Integer pin; - input Integer board; - input Real value; - - external "C" writeAnalogPin(pin, board, value) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end writeAnalogPin; - - function writeDigitalPin - input Integer pin; - input Integer board; - input Boolean value; - - external "C" writeDigitalPin(pin, board, value) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end writeDigitalPin; - - function updateBoard - input Integer board; - - external "C" updateBoard(board) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end updateBoard; - - function writeServoPin - input Integer pin; - input Integer board; - input Real value; - input Integer MinPulse; - input Integer MaxPulse; - - external "C" writeServoPin(pin, board, value, MinPulse, MaxPulse) annotation( - Include = "#include \"modelPlugFirmata.h\"", - Library = "modelPlugFirmata", - IncludeDirectory = "modelica://OpenModelicaArduino/Resources/Include", - LibraryDirectory = "modelica://OpenModelicaArduino/Resources/Library"); - end writeServoPin; - annotation( - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Text(visible = true, origin = {11.425, 9.596}, extent = {{-101.424, -59.596}, {78.57599999999999, 40.404}}, textString = "EF")}), - Documentation(info = "", revisions = ""), - Diagram(coordinateSystem(extent = {{-148.5, 105}, {148.5, -105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10})), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}), graphics = {Rectangle(visible = true, fillColor = {209, 209, 209}, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {75, 75}}), Polygon(visible = true, fillColor = {236, 236, 236}, fillPattern = FillPattern.Solid, points = {{-100, 75}, {-75, 100}, {100, 100}, {75, 75}}), Polygon(visible = true, fillColor = {177, 177, 177}, fillPattern = FillPattern.Solid, points = {{75, -100}, {75, 75}, {100, 100}, {100, -75}}), Text(visible = true, extent = {{-95.95, -91.88}, {63.97, 71.52}}, textString = "C")})); - end ExternalFunctions; - - package Types "Type and unit definitions" - extends Modelica.Icons.TypesPackage; - type ServoUnit = enumeration(None, Degrees, Radians); - type SerialPort = String annotation( - Dialog(__Wolfram_serialPortSelector = true)); - annotation( - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); - end Types; - - package Interfaces "Package with connectors and partial models" - extends Modelica.Icons.InterfacesPackage; - connector BoardConnector = output Integer annotation( - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})}), - Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, origin = {-0, 0.74}, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-10, -9.26}, {10, 9.26}})})); - connector PinConnector = input Integer annotation( - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})}), - Diagram(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Ellipse(visible = true, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}), Ellipse(visible = true, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-70, -70}, {70, 70}})})); - end Interfaces; - annotation( - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {10, 10}), graphics = {Polygon(visible = true, origin = {1.383, -4.142}, rotation = 45, fillColor = {64, 64, 64}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{-15, 93.333}, {-15, 68.333}, {0, 58.333}, {15, 68.333}, {15, 93.333}, {20, 93.333}, {25, 83.333}, {25, 58.333}, {10, 43.333}, {10, -41.667}, {25, -56.667}, {25, -76.667}, {10, -91.667}, {0, -91.667}, {0, -81.667}, {5, -81.667}, {15, -71.667}, {15, -61.667}, {5, -51.667}, {-5, -51.667}, {-15, -61.667}, {-15, -71.667}, {-5, -81.667}, {0, -81.667}, {0, -91.667}, {-10, -91.667}, {-25, -76.667}, {-25, -56.667}, {-10, -41.667}, {-10, 43.333}, {-25, 58.333}, {-25, 83.333}, {-20, 93.333}}), Polygon(visible = true, origin = {10.102, 5.218}, rotation = -45, fillColor = {255, 255, 255}, fillPattern = FillPattern.Solid, points = {{-15, 87.273}, {15, 87.273}, {20, 82.273}, {20, 27.273}, {10, 17.273}, {10, 7.273}, {20, 2.273}, {20, -2.727}, {5, -2.727}, {5, -77.727}, {10, -87.727}, {5, -112.727}, {-5, -112.727}, {-10, -87.727}, {-5, -77.727}, {-5, -2.727}, {-20, -2.727}, {-20, 2.273}, {-10, 7.273}, {-10, 17.273}, {-20, 27.273}, {-20, 82.273}})})); - end Internal; \ No newline at end of file diff --git a/OpenModelicaArduino/.package.mo.swp b/OpenModelicaArduino/.package.mo.swp deleted file mode 100644 index 09d231b..0000000 Binary files a/OpenModelicaArduino/.package.mo.swp and /dev/null differ diff --git a/OpenModelicaArduino/ArduinoExamples.mo b/OpenModelicaArduino/ArduinoExamples.mo deleted file mode 100644 index d6c1f5e..0000000 --- a/OpenModelicaArduino/ArduinoExamples.mo +++ /dev/null @@ -1,484 +0,0 @@ -within OpenModelicaArduino; - -package ArduinoExamples - extends Modelica.Icons.ExamplesPackage; - - package Led - extends Modelica.Icons.ExamplesPackage; - - model 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))); - OpenModelicaArduino.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 ex1_led_blue; - - model ex2_led_blue_delay - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {60, -20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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 ex2_led_blue_delay; - - model 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))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( - Placement(visible = true, transformation(origin = {-3.55271e-15, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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))); - OpenModelicaArduino.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 ex3_led_blue_red; - - model ex4_led_blink - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {42, -6}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {-9, -7}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 2, startTime = 4, width = 50) annotation( - Placement(visible = true, transformation(origin = {-68, -12}, extent = {{-14, -14}, {14, 14}}, 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(booleanPulse1.y, digitalOutput1.u) annotation( - Line(points = {{-53, -12}, {-24, -12}, {-24, -7}, {-22, -7}}, color = {255, 0, 255})); - connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( - Line(points = {{4, -7}, {22, -7}, {22, -6}, {42, -6}})); - annotation( - uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); - end ex4_led_blink; - end Led; - - package Push_button - extends Modelica.Icons.ExamplesPackage; - - model ex1_push_button_status - 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))); - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {-60, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalInput digitalInput1(Pin = 12) annotation( - Placement(visible = true, transformation(origin = {0, 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(digitalInput1.y, booleanValue1.activePort) annotation( - Line(points = {{20, 0}, {54, 0}, {54, 0}, {58, 0}}, color = {255, 0, 255})); - connect(arduino1.boardConnector, digitalInput1.pinConnector) annotation( - Line(points = {{-60, 0}, {-20, 0}})); - Modelica.Utilities.Streams.print(String(booleanValue1.activePort)); - end ex1_push_button_status; - - model 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))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( - Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalInput digitalInput1(Pin = 12) annotation( - Placement(visible = true, transformation(origin = {62, 3.55271e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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 ex2_led_push_button; - end Push_button; - - package Ldr - extends Modelica.Icons.ExamplesPackage; - - model ex1_ldr_read - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {-60, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1024, MinValue = 0, Pin = 23, adcResolution = 12) 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 ex1_ldr_read; - - - - - model ex2_ldr_led - extends Modelica.Icons.Example; - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 9) annotation( - Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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))); - OpenModelicaArduino.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 ex2_ldr_led; - - end Ldr; - - package DC_motor - extends Modelica.Icons.ExamplesPackage; - - model ex1_dcmotor_clock - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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))); - OpenModelicaArduino.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 ex1_dcmotor_clock; - - model ex2_dcmotor_both - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {60, 4.21885e-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))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 8) annotation( - Placement(visible = true, transformation(origin = {1.33227e-15, 26}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput2(Pin = 9) annotation( - Placement(visible = true, transformation(origin = {4, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse1(period = 20) annotation( - Placement(visible = true, transformation(origin = {-65, 25}, extent = {{-13, -13}, {13, 13}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse2(period = 20, startTime = 10) annotation( - Placement(visible = true, transformation(origin = {-60, -40}, extent = {{-14, -14}, {14, 14}}, rotation = 0))); - equation - connect(booleanPulse1.y, digitalOutput1.u) annotation( - Line(points = {{-50, 26}, {-14, 26}}, color = {255, 0, 255})); - connect(digitalOutput1.pinConnector, arduino1.boardConnector) annotation( - Line(points = {{14, 26}, {60, 26}, {60, 0}})); - connect(booleanPulse2.y, digitalOutput2.u) annotation( - Line(points = {{-44, -40}, {-10, -40}}, color = {255, 0, 255})); - connect(digitalOutput2.pinConnector, arduino1.boardConnector) annotation( - Line(points = {{18, -40}, {60, -40}, {60, 0}})); - end ex2_dcmotor_both; - - model ex3_dcmotor_loop - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {60, 4.21885e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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))); - OpenModelicaArduino.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 ex3_dcmotor_loop; - end DC_motor; - - package Potentiometer - extends Modelica.Icons.ExamplesPackage; - - model ex1_pot_threshold - extends Modelica.Icons.Example; - OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 1023, MinValue = 0, Pin = 23, adcResolution = 12) annotation( - Placement(visible = true, transformation(origin = {28, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.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))); - OpenModelicaArduino.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))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput3(Pin = 11) annotation( - Placement(visible = true, transformation(origin = {-50, 10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.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.pinConnector, customBoard1.boardConnector) annotation( - Line(points = {{18, 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})); - connect(analogInput1.y, greaterEqualThreshold1.u) annotation( - Line(points = {{38, 50}, {94, 50}, {94, 10}, {82, 10}, {82, 10}}, color = {0, 0, 127})); - connect(analogInput1.y, greaterEqualThreshold2.u) annotation( - Line(points = {{38, 50}, {94, 50}, {94, -30}, {82, -30}, {82, -30}, {82, -30}}, color = {0, 0, 127})); - connect(analogInput1.y, greaterEqualThreshold3.u) annotation( - Line(points = {{38, 50}, {94, 50}, {94, -70}, {82, -70}, {82, -70}}, color = {0, 0, 127})); - annotation( - uses(OpenModelicaArduino(version = "1.2"))); - end ex1_pot_threshold; - end Potentiometer; - - package Thermistor - extends Modelica.Icons.ExamplesPackage; - - model ex1_therm_read - extends Modelica.Icons.Example; - OpenModelicaArduino.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))); - OpenModelicaArduino.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 ex1_therm_read; - - model ex2_therm_buzzer - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {-3.55271e-15, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput1(Pin = 3) annotation( - Placement(visible = true, transformation(origin = {-60, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.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 ex2_therm_buzzer; - end Thermistor; - - package Servo_motor - extends Modelica.Icons.ExamplesPackage; - - model 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))); - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {78, 20}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 23) 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"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); - end ex1_servo_init; - - - model 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))); - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 3) 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"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); - end ex2_servo_reverse; - - model 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))); - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {78, 0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.Internal.Types.ServoUnit.None, MaxPulse = 1000000, MinPulse = 500000, Pin = 23) 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"), OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"))); - end ex3_servo_loop; - - - - model ex4_servo_pot - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino1(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {60, 3.10862e-15}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); - OpenModelicaArduino.Pins.Servo servo1(InputUnit = OpenModelicaArduino.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))); - OpenModelicaArduino.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(OpenModelicaArduino(version = "1.2"), Modelica_DeviceDrivers(version = "1.5.0"))); - end ex4_servo_pot; - end Servo_motor; -end ArduinoExamples; \ No newline at end of file diff --git a/OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino b/OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino deleted file mode 100644 index 01a4710..0000000 --- a/OpenModelicaArduino/Firmware/Arduino/pidmata3/pidmata3.ino +++ /dev/null @@ -1,904 +0,0 @@ -/* - Firmata is a generic protocol for communicating with microcontrollers - from software on a host computer. It is intended to work with - any host computer software package. - - To download a host software package, please click on the following link - to open the list of Firmata client libraries in your default browser. - - https://github.com/firmata/arduino#firmata-client-libraries - - Copyright (C) 2006-2008 Hans-Christoph Steiner. All rights reserved. - Copyright (C) 2010-2011 Paul Stoffregen. All rights reserved. - Copyright (C) 2009 Shigeru Kobayashi. All rights reserved. - Copyright (C) 2009-2016 Jeff Hoefs. All rights reserved. - - This library is free software; you can redistribute it and/or - modify it under the terms of the GNU Lesser General Public - License as published by the Free Software Foundation; either - version 2.1 of the License, or (at your option) any later version. - - See file LICENSE.txt for further informations on licensing terms. - - Last updated August 17th, 2017 -*/ - -#include.
-.
-The first thing you need to do is upload the Firmware code to your board .
-
Figure 1. Location of the Firmware sketch.
-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.
- Important instructions for using above mentioned firmware “pidmata3.ino“:
-
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 OpenModelicaArduino 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.
-
Figure 2. Finding the serial port being used.
-As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:
-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 OpenModelicaArduino can use multiple boards with multiple pins at the same time.
-
Figure 3. Diagram of the blinking LED.
-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.
-
Figure 4. Specifying the serial port name.
-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.
-
Figure 5. Specifying the pin to use.
-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.
-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 OpenModelicaArduino, 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.
- //
Figure 6. Synchronizing your simulation with real time.
- //If you are building many models with the OpenModelicaArduino 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).
- //
Figure 7. Setting \"Synchronize with real-time\" as default.
- //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.
- //
Figure 8. Setting the stop time to infinite.
- //If you run the simulation again, you should see the LED blinking continuously.
-One thing that you may have noticed is that OpenModelicaArduino 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.
-
Figure 9. Messages shown by OpenModelicaArduino.
-This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:
-If you are still having problems, you can go to http://community.wolfram.com and ask a question.
-OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).
", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); - annotation(Documentation(info = "Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.
-Signal Range: 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.
-Not all pins support analog input. Check the documentation of your board to find the pin capabilities.
-", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u); - annotation(Documentation(info = "
Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.
-Signal Range: 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.
-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 (http://playground.arduino.cc) for more information on PWM.
-Not all pins support analog output. Check the documentation of your board to find the pin capabilities.
-", 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 OpenModelicaArduino.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")); - OpenModelicaArduino.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 = OpenModelicaArduino.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector); - annotation(Documentation(info = "
Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u); - annotation(Documentation(info = "Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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 OpenModelicaArduino.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))); - OpenModelicaArduino.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 OpenModelicaArduino.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 == OpenModelicaArduino.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u; - OpenModelicaArduino.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse); - annotation(Documentation(info = "Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.
-Signal Range: 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'.
-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, http://arduino.cc/en/reference/servo.
", 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"; - OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation(Documentation(info = "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.
-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.
", 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"; - OpenModelicaArduino.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))); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation(Documentation(info = "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.
-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.
-", 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"; - OpenModelicaArduino.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))); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation(Documentation(info = "
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.
-The baud rate is specified with the 'BaudRate' property. You have to consider that standard serial ports do not support arbitrary baud rates.
-When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.
", 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"; - OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.updateBoard(BoardId); - end when; - boardConnector = BoardId; - annotation(Documentation(info = "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.
-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.
", 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"; - OpenModelicaArduino.Internal.ExternalFunctions.FirmataBoardObject board = Internal.ExternalFunctions.FirmataBoardObject.constructor(Port, ShowPinCapabilities, integer(UpdatePeriod * 1000), BaudRate, UseDTR); - OpenModelicaArduino.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 - OpenModelicaArduino.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 BlinkLed "Basic example of blinking an LED" - extends Modelica.Icons.Example; - replaceable OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true, UseDTR = false) annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 30) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); -Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {35, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - -equation - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); - connect(booleanPulse.y,digitalOutput.u) annotation( - Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); - annotation(experiment(StopTime = 10, Interval = 0.001), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), preferredView = "diagram", Documentation(info = "This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
-You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-
This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.
-
You can check the Arduino Playground to know more about PWM outputs.
", revisions = ""), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end DimmingLed; - - - - model ReadSensor "Reading analog signals" - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation(Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.DigitalOutput digitalOutput(Pin = 10) annotation(Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(Pin = 16) annotation(Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Greater greater1 annotation(Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation(Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(greater1.y, digitalOutput.u) annotation(Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); - connect(analogInput1.y, greater1.u1) annotation(Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); - connect(analogInput1.pinConnector, arduino.boardConnector) annotation(Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation(Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); - connect(Reference.y, greater1.u2) annotation(Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); - annotation(experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), preferredView = "diagram", Documentation(info = "This example shows how to read an analog voltage using the AnalogInput component. The analog signal is then compared to a reference, and if the signal is above the reference, it will turn on an LED. You can see in the following figure how to build this example.
-
You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.
-Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.
-The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.
", revisions = ""), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end ReadSensor; - - - - model MoveServo "Using servos" - extends Modelica.Icons.Example; - Boards.Arduino arduino(Port = "COM1") annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.Servo servo(Pin = 10) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation(Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(expSine.y, servo.u) annotation(Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); - connect(servo.pinConnector, arduino.boardConnector) annotation(Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); - annotation(experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), preferredView = "diagram", Documentation(info = "This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.
-For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).
-
Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.
", revisions = ""), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end MoveServo; - - - - model SimpleONOFF "A simple On/Off controller" - extends Modelica.Icons.Example; - OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation(Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaArduino.Pins.AnalogInput analogInput1(MaxValue = 3.3 * 100,Pin = 23, adcResolution = 12) annotation(Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 40) annotation(Placement(visible = true, transformation(origin = {35, -25}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica.Blocks.Math.Add add1(k2 = +1, k1 = -1) annotation(Placement(visible = true, transformation(origin = {-0, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 30) annotation(Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Hysteresis hysteresis(uLow = -1, uHigh = 1) annotation(Placement(visible = true, transformation(origin = {-30, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {42.5, 42.5}, extent = {{-7.5, -7.5}, {7.5, 7.5}}, rotation = 0))); - equation - connect(hysteresis.u, add1.y) annotation(Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); - connect(digitalOutput.u, hysteresis.y) annotation(Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation(Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); - connect(add1.u2, Reference.y) annotation(Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); - connect(analogInput1.y, add1.u1) annotation(Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); - connect(arduino.boardConnector, analogInput1.pinConnector) annotation(Line(visible = true, origin = {10, 15}, points = {{-10, 0}, {10, 0}})); - annotation(experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), preferredView = "diagram", Documentation(info = "This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.
The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.
"), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); - end SimpleONOFF; - - - - - - - - - - - - - - - model UsingArduinoLeonardo "Basic example of blinking an LED" - extends OpenModelicaArduino.Examples.BlinkLed(redeclare ModelPlug.Boards.ArduinoLeonardo arduino); - annotation(experiment(StopTime = 10, Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), Documentation(info = "This example shows how the - Blink Led can be used with an Arduino Leonardo.
", revisions = "")); - end UsingArduinoLeonardo; - - - - model UsingCustomBoard "Using a Firmata-compatible board" - extends Modelica.Icons.Example; - Modelica.Blocks.Sources.BooleanPulse booleanPulse(period = 1) annotation(Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 13) annotation(Placement(visible = true, transformation(origin = {-0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Boards.CustomFirmata customFirmata(Port = "COM1", BaudRate = 115200, UpdatePeriod = 0.001) annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {-30, 30}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation - connect(digitalOutput.pinConnector, customFirmata.boardConnector) annotation(Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}})); - connect(booleanPulse.y, digitalOutput.u) annotation(Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, 0}, {4.5, 0}}, color = {255, 0, 255})); - annotation(experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), preferredView = "diagram", Documentation(info = "- 1 Teensy 3.1 board
-This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.
-
The main difference of the CustomFirmata component is that it allows you to set the baud rate to the sampling interval that you want to use. In this case the oce of the StandardFirmata is modified to use a baud rate of 115200. You can perform this modification in the source code. Search for the line:
Firmata.Begin(57600);
-and changing it to
-Firmata.Begin(115200);
-This initializes the serial port at the given speed. The next change that you can make is reducing the minimum sampling interval. You can find this tweak by searching in the code the text:
-#define MINIMUM_SAMPLING_INTERVAL 10
-and changing it to
-#define MINIMUM_SAMPLING_INTERVAL 1
-This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.
-
This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
-You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-
ModelPlug is a library that allows you to connect your simulations with the real world. It uses an Arduino board (or compatible) to send analog and digital signals to physical devices and receive signals from them.
-
-
With ModelPlug, you can combine simulation models and real hardware. For example, you can get data from your hardware, design a control, and test it in real time.
--
You can build a real control panel and use it to control your simulation models.
-
ModelPlug provides the following components:
-| - | Inputs | -- |
| Analog input | -Reads analog values from the pins | - |
-
| Digital input | -Reads digital values from the pins | - |
-
| - | Output | -- |
| Analog output | -Writes analog values to the pins | - |
-
| Digital output | -Writes digital values to the pins | - |
-
| Servo control | -Writes the angle to servo motors | - |
-
| - | Board Handlers | -- |
| Arduino | -Connects to Arduino boards like Arduino Uno, Arduino Mega 2560 | - |
-
| Arduino Leonardo | -Connects to Arduino Leonardo boards and boards using native USB | - |
-
| StandardFirmata | -Connects to Arduino-compatible boards | - |
-
| CustomFirmata | -Connects to any board supporting Firmata | - |
-
ModelPlug connects with the boards using USB serial communication. In order to configure, read, and write to the board, ModelPlug uses the Firmata protocol v2.3 (http://www.firmata.org). This protocol allows you to connect not only to Arduinos, but also to many boards compatible with Arduino. Examples of other boards supporting the Firmata protocol are:
-ModelPlug wraps the functionality of Firmata by providing easy-to-use Modelica models that you can connect in your simulations.
-ModelPlug requires a board with Firmata Version 2.3 or higher.
-Currently ModelPlug does not support sensors that communicate through I2C or SPI with the board.
-The minimum synchronization interval is 1 ms; therefore, ModelPlug cannot have a sampling interval smaller than that. The standard Firmata allows a minimum sampling interval of 10 ms.
ModelPlug uses a serial protocol; therefore, the transfer speed is constrained by the serial port speed. This can be problematic when reading or writing too many inputs/outputs with a small sampling interval.
Ask questions about SystemModeler and ModelPlug
- -Find out how to connect sensors and actuators to the Arduino
- -Get details about the Firmata protocol
- -The breadboard diagrams were created using Fritzing
- --
-
", revisions = ""), version = "1.2", Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}), graphics = {Rectangle(visible = true, fillColor = {190, 53, 19}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}, radius = 25), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {255, 255, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {30.028, 54.643}, {-12.143, 59.643}, {-37.143, 44.643}, {-50.141, 26.339}, {-55.168, 4.643}, {-52.143, -20.357}, {-42.143, -42.453}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {50, 27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Rectangle(visible = true, origin = {50, -27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Polygon(visible = true, origin = {-23.077, -0.385}, fillColor = {191, 191, 191}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{38.077, 50.385}, {38.077, 55.385}, {33.077, 55.385}, {-6.923, 55.385}, {-26.923, 45.385}, {-41.923, 30.385}, {-50.213, 0.385}, {-41.923, -29.615}, {-26.923, -44.615}, {-6.923, -54.615}, {33.077, -54.615}, {38.077, -54.615}, {38.077, -49.615}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, lineColor = {128, 128, 128}, fillColor = {128, 128, 128}, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), - uses(Modelica_DeviceDrivers(version = "1.5.0"), Modelica(version = "3.2.2"))); -end OpenModelicaArduino; diff --git a/OpenModelicaArduino/package.order b/OpenModelicaArduino/package.order deleted file mode 100644 index 5c5caaf..0000000 --- a/OpenModelicaArduino/package.order +++ /dev/null @@ -1,6 +0,0 @@ -GettingStarted -Pins -Boards -Examples -Internal -ArduinoExamples diff --git a/Pins.mo b/Pins.mo deleted file mode 100644 index 556188d..0000000 --- a/Pins.mo +++ /dev/null @@ -1,117 +0,0 @@ - package Pins "Components to access the board I/O" - extends Internal.Icons.Block; - - model AnalogInput "Reads an analog signal from the specified pin" - extends OpenModelicaArduino.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"; - OpenModelicaArduino.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 = OpenModelicaArduino.Internal.ExternalFunctions.readAnalogPin(Pin, MinValue, MaxValue, InitValue, pinConnector, adcResolution); - annotation( - Documentation(info = "
Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.
-Signal Range: 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.
-Not all pins support analog input. Check the documentation of your board to find the pin capabilities.
-", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.writeAnalogPin(Pin, pinConnector, scaled_u); - annotation( - Documentation(info = "
Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.
-Signal Range: 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.
-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 (http://playground.arduino.cc) for more information on PWM.
-Not all pins support analog output. Check the documentation of your board to find the pin capabilities.
-", 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 OpenModelicaArduino.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")); - OpenModelicaArduino.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 = OpenModelicaArduino.Internal.ExternalFunctions.readDigitalPin(Pin, InitValue, pinConnector); - annotation( - Documentation(info = "
Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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 OpenModelicaArduino.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"; - OpenModelicaArduino.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 - OpenModelicaArduino.Internal.ExternalFunctions.writeDigitalPin(Pin, pinConnector, u); - annotation( - Documentation(info = "Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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 OpenModelicaArduino.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))); - OpenModelicaArduino.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 OpenModelicaArduino.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 == OpenModelicaArduino.Internal.Types.ServoUnit.None then u else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Degrees then u / 180 else if InputUnit == OpenModelicaArduino.Internal.Types.ServoUnit.Radians then u / Modelica.Constants.pi else u; - OpenModelicaArduino.Internal.ExternalFunctions.writeServoPin(Pin, pinConnector, u, MinPulse, MaxPulse); - annotation( - Documentation(info = "Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.
-Signal Range: 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'.
-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, http://arduino.cc/en/reference/servo.
", 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; \ No newline at end of file diff --git a/README.md b/README.md index 23c73b4..3e8cd8b 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,7 @@ # OpenModelicaEmbedded OpenModelica for Embedded Applications + +## Working with Arduino UNO [Atmega328p] + +## Working with Tiva C [TM4C123G] + diff --git a/package.mo b/package.mo index a84f3f2..77ec96a 100644 --- a/package.mo +++ b/package.mo @@ -1,13 +1,12 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" - package GettingStarted "Procedure to run first model using OpenModelicaArduino" + + package GettingStarted "Procedure to run first model using OpenModelicaEmbedded" extends Modelica.Icons.Information; - annotation( - preferredView = "info", - Documentation(info = ".
+ annotation(preferredView = "info", Documentation(info = ".
.
The first thing you need to do is upload the Firmware code to your board .
-
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/FirmataLocation.png\")
Figure 1. Location of the Firmware sketch.
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.
Important instructions for using above mentioned firmware “pidmata3.ino“:
@@ -16,39 +15,39 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino"
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 OpenModelicaArduino 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.
-
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.
+![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/SerialPortLocation.png\")
Figure 2. Finding the serial port being used.
As a first exercise, you are going to reproduce with OpenModelicaArduino the blinking LED example. You can either open the prebuilt example (OpenModelicaArduino.Examples.BlinkLed) or build it by yourself. To build the model, locate the components:
+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:
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 OpenModelicaArduino can use multiple boards with multiple pins at the same time.
-
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.
+![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/BlinkingLEDModel.png\")
Figure 3. Diagram of the blinking LED.
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.
-
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/QuotedSerialPort.png\")
Figure 4. Specifying the serial port name.
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.
-
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/PinNumber.png\")
Figure 5. Specifying the pin to use.
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.
-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 OpenModelicaArduino, 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.
- //
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.
+ // ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/SynchronizeSetting.png\")
Figure 6. Synchronizing your simulation with real time.
- //If you are building many models with the OpenModelicaArduino 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).
- //
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).
+ //![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/DefaultSynchronize.png\")
Figure 7. Setting \"Synchronize with real-time\" as default.
//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.
- //
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/StopTime.png\")
Figure 8. Setting the stop time to infinite.
//If you run the simulation again, you should see the LED blinking continuously.
-One thing that you may have noticed is that OpenModelicaArduino 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.
-
Figure 9. Messages shown by OpenModelicaArduino.
+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.
+![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/ModelPlugLog-nomarkers.png\")
Figure 9. Messages shown by OpenModelicaEmbedded.
This is a checklist that you can follow in order to solve most of the problems that can occur when using the ModelPlug library:
If you are still having problems, you can go to http://community.wolfram.com and ask a question.
OpenModelicaArduino contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.Examples. Once you have learned how to use the basic components of OpenModelicaArduino, you can check the Arduino Playground to learn how to connect other sensors and actuators (http://playground.arduino.cc).
", revisions = ""), - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); +OpenModelicaEmbedded contains a series of basic examples showing the functionality of the components. You can check the Examples under ModelPlug.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 (http://playground.arduino.cc).
", 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 = "Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.
+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 = "Reads an analog signal from the specified pin. This component uses the 'analogRead' function of Arduino.
Signal Range: 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.
Not all pins support analog input. Check the documentation of your board to find the pin capabilities.
-", 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 = "
Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.
+", 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 = "
Writes an analog signal to the specified pin. This component uses the 'analogWrite' function of Arduino.
Signal Range: 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.
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 (http://playground.arduino.cc) for more information on PWM.
Not all pins support analog output. Check the documentation of your board to find the pin capabilities.
-", 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; +
", 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" + 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))); + 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))); + 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 = "
Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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})})); + annotation(Documentation(info = "Reads a digital signal from the specified pin. This component uses the 'digitalRead' function of Arduino.
+Signal Range: This component accepts only Boolean signals (true/false).
", 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))); + 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))); + 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 = "Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.
-Signal Range: This component accepts only Boolean signals (true/false).
", 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})})); + annotation(Documentation(info = "Writes a digital signal to the specified pin. This component uses the 'digitalWrite' function of Arduino.
+Signal Range: This component accepts only Boolean signals (true/false).
", 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))); + 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")); + (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")); + (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 = "Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.
+ annotation(Documentation(info = "Controls a servo motor attached to the specified pin. This component uses the 'Servo' library of Arduino.
Signal Range: 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'.
-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, http://arduino.cc/en/reference/servo.
", 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})})); +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, http://arduino.cc/en/reference/servo.
", 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; + 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))); + 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)"; @@ -207,19 +170,15 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); end when; boardConnector = BoardId; - annotation( - Documentation(info = "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.
-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.
", 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})})); + annotation(Documentation(info = "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.
+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.
", 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.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."; @@ -233,20 +192,16 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); end when; boardConnector = BoardId; - annotation( - Documentation(info = "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.
+ annotation(Documentation(info = "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.
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.
-", 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})})); +
", 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.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"; @@ -260,12 +215,9 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); end when; boardConnector = BoardId; - annotation( - Documentation(info = "
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.
+ annotation(Documentation(info = "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.
The baud rate is specified with the 'BaudRate' property. You have to consider that standard serial ports do not support arbitrary baud rates.
-When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.
", 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})})); +When setting the 'UpdatePeriod' property, it is necessary to change the \"Interval length\" in the simulation settings, to match the update period.
", 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" @@ -273,8 +225,7 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" 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))); + 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)"; @@ -287,68 +238,54 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" OpenModelicaEmbedded.Internal.ExternalFunctions.updateBoard(BoardId); end when; boardConnector = BoardId; - annotation( - Documentation(info = "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.
-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.
", 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")})); + annotation(Documentation(info = "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.
+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.
", 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}))); +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 BlinkLed "Basic example of blinking an LED" - extends Modelica.Icons.Example; - replaceable OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true, UseDTR = false) annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput(Pin = 30) annotation( - Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( - Placement(visible = true, transformation(origin = {35, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.BooleanPulse booleanPulse annotation( +model BlinkLed "Basic example of blinking an LED" + extends Modelica.Icons.Example; + replaceable OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true, UseDTR = false) annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput(Pin = 30) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Placement(visible = true, transformation(origin = {35, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.BooleanPulse booleanPulse annotation( Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - equation + +equation connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( Line(points = {{10, -10}, {30, -10}}, color = {72, 73, 79})); - connect(booleanPulse.y, digitalOutput.u) annotation( + connect(booleanPulse.y,digitalOutput.u) annotation( Line(points = {{-19, -10}, {-10, -10}}, color = {255, 0, 255})); - annotation( - experiment(StopTime = 10, Interval = 0.001), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example uses the DigitalOutput component to control the LED attached to the Arduino board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-![\"\"/](\"modelica://OpenModelicaEmbedded/Resources/Images/Blink.png\")
This example uses the AnalogOutput component to change the light intensity of an LED. AnalogOutput uses the Arduino function 'analogWrite', which produces a PWM (Pulse-Width Modulated) signal. This type of signal can be used to directly control the LED intensity. The following figure shows the connections.
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/Dimming.png\")
You can check the Arduino Playground to know more about PWM outputs.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); +You can check the Arduino Playground to know more about PWM outputs.
", revisions = ""), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); end DimmingLed; model ReadSensor "Reading analog signals" extends Modelica.Icons.Example; - OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaEmbedded.Pins.AnalogInput analogInput1(Pin = 16) annotation( - Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Greater greater1 annotation( - Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation( - Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation(Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.DigitalOutput digitalOutput(Pin = 10) annotation(Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(Pin = 16) annotation(Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Greater greater1 annotation(Placement(visible = true, transformation(origin = {-10, -15}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant Reference(k = 0.5) annotation(Placement(visible = true, transformation(origin = {30, -30}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {-30, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); equation - connect(greater1.y, digitalOutput.u) annotation( - Line(visible = true, origin = {-38.744, -2.5}, points = {{17.744, -12.5}, {-6.256, -12.5}, {-6.256, 17.5}, {-1.256, 17.5}}, color = {255, 0, 255})); - connect(analogInput1.y, greater1.u1) annotation( - Line(visible = true, origin = {33.994, -5}, points = {{6.006, 20}, {11.006, 20}, {11.006, 0}, {-23.994, 0}, {-23.994, -10}, {-31.994, -10}}, color = {0, 0, 127})); - connect(analogInput1.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {10, 15}, points = {{10, 0}, {-10, 0}}, color = {72, 73, 79})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}}, color = {72, 73, 79})); - connect(Reference.y, greater1.u2) annotation( - Line(visible = true, origin = {12.75, -29}, points = {{6.25, -1}, {-2.75, -1}, {-2.75, 6}, {-10.75, 6}}, color = {0, 0, 127})); - annotation( - experiment(StartTime = 0.0, StopTime = 10.0, Interval = 0.001, __Wolfram_Algorithm = "dassl", Tolerance = 1e-006, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/ReadAnalog.png\")
You can see that pin A0 for the Arduino corresponds to pin number 14 for the Firmata. For other boards, the pin numbering may vary.
Run the simulation and move the potentiometer. You should see that when the position of the shaft is near the middle, the LED changes state.
-The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); +The AnalogInput component returns a signal between 0 and 1. This value represents the voltage between 0 and the reference voltage. If you prefer to get the signal directly in volts, you need to change the 'MaxValue' property to the reference voltage, but generally it is either 5 V or 3.3 V.
", revisions = ""), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); end ReadSensor; - model MoveServo "Using servos" + model MoveServo "Using servos" extends Modelica.Icons.Example; - Boards.Arduino arduino(Port = "COM1") annotation( - Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Pins.Servo servo(Pin = 10) annotation( - Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation( - Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + Boards.Arduino arduino(Port = "COM1") annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Pins.Servo servo(Pin = 10) annotation(Placement(visible = true, transformation(origin = {0, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.ExpSine expSine(offset = 0.5, amplitude = 0.5, freqHz = 0.4, damping = 0.1) annotation(Placement(visible = true, transformation(origin = {-30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {-25, 35}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); equation - connect(expSine.y, servo.u) annotation( - Line(visible = true, origin = {-14.5, -10}, points = {{-4.5, -0}, {4.5, 0}}, color = {0, 0, 127})); - connect(servo.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {20, -10}, points = {{-10, 0}, {10, -0}}, color = {72, 73, 79})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example shows how to control a servo by using the Servo component. You can find the diagram in the following figure.
For this example, it is recommended to use an external power source to provide voltage for the servo. This is because the power from the Arduino may not be enough to supply the servo. If you are not sure how to connect your servo, take a look at the reference in the Arduino Playground (http://playground.arduino.cc).
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/ServoExample.png\")
Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.
", revisions = ""), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); +Servos are controlled with a signal in the range of 0 to 1, where 0 corresponds to 0 degrees of rotation and 1 to 180 degrees. This example makes the servo bounce from 0 to 180 degrees until it gets stable around 90 degrees.
", revisions = ""), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); end MoveServo; model SimpleONOFF "A simple On/Off controller" extends Modelica.Icons.Example; - OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation( - Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 3.3 * 100, Pin = 23, adcResolution = 12) annotation( - Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Sources.Constant Reference(k = 40) annotation( - Placement(visible = true, transformation(origin = {35, -25}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); - Modelica.Blocks.Math.Add add1(k2 = +1, k1 = -1) annotation( - Placement(visible = true, transformation(origin = {-0, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Pins.DigitalOutput digitalOutput(Pin = 30) annotation( - Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); - Modelica.Blocks.Logical.Hysteresis hysteresis(uLow = -1, uHigh = 1) annotation( - Placement(visible = true, transformation(origin = {-30, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); - Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( + OpenModelicaEmbedded.Boards.Arduino arduino(Port = "/dev/ttyACM0") annotation(Placement(visible = true, transformation(origin = {0, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaEmbedded.Pins.AnalogInput analogInput1(MaxValue = 3.3 * 100,Pin = 23, adcResolution = 12) annotation(Placement(visible = true, transformation(origin = {30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant Reference(k = 40) annotation(Placement(visible = true, transformation(origin = {35, -25}, extent = {{-10, -10}, {10, 10}}, rotation = -180))); + Modelica.Blocks.Math.Add add1(k2 = +1, k1 = -1) annotation(Placement(visible = true, transformation(origin = {-0, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Pins.DigitalOutput digitalOutput(Pin = 30) annotation(Placement(visible = true, transformation(origin = {-30, 15}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Logical.Hysteresis hysteresis(uLow = -1, uHigh = 1) annotation(Placement(visible = true, transformation(origin = {-30, -25}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1 annotation( Placement(visible = true, transformation(origin = {42.5, 42.5}, extent = {{-7.5, -7.5}, {7.5, 7.5}}, rotation = 0))); equation - connect(hysteresis.u, add1.y) annotation( - Line(visible = true, origin = {-14.5, -25}, points = {{-3.5, -0}, {3.5, 0}}, color = {0, 0, 127})); - connect(digitalOutput.u, hysteresis.y) annotation( - Line(visible = true, origin = {-43.25, 5}, points = {{3.25, 10}, {-1.75, 10}, {-1.75, -30}, {2.25, -30}}, color = {255, 0, 255})); - connect(digitalOutput.pinConnector, arduino.boardConnector) annotation( - Line(visible = true, origin = {-10, 15}, points = {{-10, 0}, {10, 0}})); - connect(add1.u2, Reference.y) annotation( - Line(visible = true, origin = {18.5, -23}, points = {{-6.5, -8}, {1.5, -8}, {1.5, -2}, {5.5, -2}}, color = {0, 0, 127})); - connect(analogInput1.y, add1.u1) annotation( - Line(visible = true, origin = {33.506, 12}, points = {{6.494, 3}, {11.494, 3}, {11.494, -17}, {-13.506, -17}, {-13.506, -31}, {-21.506, -31}}, color = {0, 0, 127})); - connect(arduino.boardConnector, analogInput1.pinConnector) annotation( - Line(visible = true, origin = {10, 15}, points = {{-10, 0}, {10, 0}})); - annotation( - experiment(Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = false, initialScale = 0.1, grid = {10, 10})), - preferredView = "diagram", - Documentation(info = "This example is a simple ON/OFF controller and can be used for either heating or cooling. It uses an LM35 to read the temperature, and based on that temperature, the controller switches a relay on or off. You can attach a fan or a heater to the relay, depending on the operation you want to perform. You can find the diagram in the following figure.
Note: You need to be careful when using relays that control electrical equipment using AC voltage, because an incorrect connection may damage your board.
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/SimpleONOFF.png\")
The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.
"), - Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); +The target temperature is set by a constant component. The measured temperature is subtracted from the reference in order to obtain the error. The error signal is fed into the hysteresis component, which will send a Boolean signal to control the relay. If you want cooling instead of heating, you need to invert the logic of this signal.
"), Diagram(coordinateSystem(extent = {{-50, -50}, {50, 50}}, initialScale = 0.1, grid = {5, 5}))); end SimpleONOFF; model UsingArduinoLeonardo "Basic example of blinking an LED" - extends OpenModelicaEmbedded.Examples.BlinkLed(redeclare OpenModelicaEmbedded.Boards.ArduinoLeonardo arduino); - annotation( - experiment(StopTime = 10, Interval = 0.001, __Wolfram_SynchronizeWithRealTime = true), - Documentation(info = "- 1 Teensy 3.1 board
This example shows how to use a board with a custom version of Firmata. The Teensy board works perfectly with the StandardFirmata, but in this example it is modified in order get a faster data transfer speed.
@@ -575,30 +448,20 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino"and changing it to
#define MINIMUM_SAMPLING_INTERVAL 1
This changes the sampling interval limit from 10 ms to 1ms. You have to consider that this change is possible because the Teensy board can run up to 96 MHz. If you change the sampling interval, it is necessary to change the simulation setting in SimulationCenter to 1 ms, as shown in the following figure.
-![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/Interval.png\")
This example uses the DigitalOutput component to control the LED attached to a standard Firmata board on pin 13. It uses a BooleanPulse from the Modelica library to produce an On/Off signal that is fed into the DigitalOutput component. This will make the LED attached to the pin blink.
You can go ahead and add more LEDs to the board as shown in the following figure. This will require you to add one more DigitalOutput component to control the LED on pin 9.
-![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/StandardFirmata.png\")
ModelPlug is a library that allows you to connect your simulations with the real world. It uses an Arduino board (or compatible) to send analog and digital signals to physical devices and receive signals from them.
-
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/ModelPlugDocumentation-1.png\")
With ModelPlug, you can combine simulation models and real hardware. For example, you can get data from your hardware, design a control, and test it in real time.
-
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/ModelPlugDocumentation-2.png\")
You can build a real control panel and use it to control your simulation models.
-
![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/ModelPlugDocumentation-3.png\")
ModelPlug provides the following components:
| Analog input | Reads analog values from the pins | - |
+![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/analogInput.png\") |
| Digital input | Reads digital values from the pins | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/digitalInput.png\") |
| @@ -1401,17 +1726,17 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" | |||
| Analog output | Writes analog values to the pins | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/analogOutput.png\") |
| Digital output | Writes digital values to the pins | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/digitalOutput.png\") |
| Servo control | Writes the angle to servo motors | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/servo.png\") |
| @@ -1421,22 +1746,22 @@ package OpenModelicaEmbedded "Connecting OpenModelica with Arduino" | |||
| Arduino | Connects to Arduino boards like Arduino Uno, Arduino Mega 2560 | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/arduino.png\") |
| Arduino Leonardo | Connects to Arduino Leonardo boards and boards using native USB | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/arduinoLeonardo.png\") |
| StandardFirmata | Connects to Arduino-compatible boards | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/standard.png\") |
| CustomFirmata | Connects to any board supporting Firmata | - |
+ ![\"\"](\"modelica://OpenModelicaEmbedded/Resources/Images/custom.png\") |
-
", revisions = ""), - version = "1.2", - Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}), graphics = {Rectangle(visible = true, fillColor = {190, 53, 19}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}, radius = 25), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {255, 255, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {30.028, 54.643}, {-12.143, 59.643}, {-37.143, 44.643}, {-50.141, 26.339}, {-55.168, 4.643}, {-52.143, -20.357}, {-42.143, -42.453}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {50, 27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Rectangle(visible = true, origin = {50, -27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Polygon(visible = true, origin = {-23.077, -0.385}, fillColor = {191, 191, 191}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{38.077, 50.385}, {38.077, 55.385}, {33.077, 55.385}, {-6.923, 55.385}, {-26.923, 45.385}, {-41.923, 30.385}, {-50.213, 0.385}, {-41.923, -29.615}, {-26.923, -44.615}, {-6.923, -54.615}, {33.077, -54.615}, {38.077, -54.615}, {38.077, -49.615}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, lineColor = {128, 128, 128}, fillColor = {128, 128, 128}, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier)}), - Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), - uses(Modelica_DeviceDrivers(version = "1.5.0"), Modelica(version = "3.2.2"))); +
", revisions = ""), version = "1.2", Icon(coordinateSystem(extent = {{-100, -100}, {100, 100}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}), graphics = {Rectangle(visible = true, fillColor = {190, 53, 19}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, extent = {{-100, -100}, {100, 100}}, radius = 25), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {128, 128, 128}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, fillColor = {255, 255, 255}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {30.028, 54.643}, {-12.143, 59.643}, {-37.143, 44.643}, {-50.141, 26.339}, {-55.168, 4.643}, {-52.143, -20.357}, {-42.143, -42.453}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier), Rectangle(visible = true, origin = {50, 27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Rectangle(visible = true, origin = {50, -27.5}, lineColor = {128, 128, 128}, fillColor = {255, 255, 255}, fillPattern = FillPattern.HorizontalCylinder, extent = {{-25, -12.5}, {25, 12.5}}), Polygon(visible = true, origin = {-23.077, -0.385}, fillColor = {191, 191, 191}, pattern = LinePattern.None, fillPattern = FillPattern.Solid, points = {{38.077, 50.385}, {38.077, 55.385}, {33.077, 55.385}, {-6.923, 55.385}, {-26.923, 45.385}, {-41.923, 30.385}, {-50.213, 0.385}, {-41.923, -29.615}, {-26.923, -44.615}, {-6.923, -54.615}, {33.077, -54.615}, {38.077, -54.615}, {38.077, -49.615}}, smooth = Smooth.Bezier), Polygon(visible = true, origin = {-17.857, -4.643}, lineColor = {128, 128, 128}, fillColor = {128, 128, 128}, points = {{42.857, 59.643}, {42.857, 64.643}, {37.857, 69.643}, {32.857, 69.643}, {-17.143, 69.643}, {-42.143, 54.643}, {-57.143, 34.643}, {-65.22199999999999, 4.643}, {-57.143, -25.357}, {-42.143, -45.357}, {-17.143, -60.357}, {32.857, -60.357}, {37.857, -60.357}, {42.857, -55.357}, {42.857, -50.357}}, smooth = Smooth.Bezier)}), Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5})), + uses(Modelica_DeviceDrivers(version = "1.5.0"), Modelica(version = "3.2.2"))); end OpenModelicaEmbedded; diff --git a/package.order b/package.order index 5c5caaf..157aac8 100644 --- a/package.order +++ b/package.order @@ -2,5 +2,6 @@ GettingStarted Pins Boards Examples -Internal ArduinoExamples +TivaC_Examples +Internal -- cgit