diff options
Diffstat (limited to 'OpenModelicaArduino/package.mo')
| -rw-r--r-- | OpenModelicaArduino/package.mo | 70 |
1 files changed, 69 insertions, 1 deletions
diff --git a/OpenModelicaArduino/package.mo b/OpenModelicaArduino/package.mo index de10e5b..4758871 100644 --- a/OpenModelicaArduino/package.mo +++ b/OpenModelicaArduino/package.mo @@ -335,6 +335,8 @@ end BlinkLed; + + model DimmingLed "Changing the intensity of an LED" extends Modelica.Icons.Example; OpenModelicaArduino.Boards.Arduino arduino(Port = "/dev/ttyACM0", ShowPinCapabilities = true) annotation(Placement(visible = true, transformation(origin = {30, -10}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); @@ -555,6 +557,72 @@ end BlinkLed; annotation( uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); end DCMotorWithPWM; + + + + + + + model DCMotorWithPID + extends Modelica.Icons.Example; + Modelica_DeviceDrivers.Blocks.OperatingSystem.SynchronizeRealtime synchronizeRealtime1(priority = "High", setPriority = true) annotation( + Placement(visible = true, transformation(origin = {92, 88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia1(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {-22, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.Inertia inertia2(J = 1, a(start = 0), phi(start = 0), w(start = 0)) annotation( + Placement(visible = true, transformation(origin = {56, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Components.SpringDamper springDamper1(c = 20, d = 10, phi_rel0 = 0) annotation( + Placement(visible = true, transformation(origin = {16, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.Torque torque1 annotation( + Placement(visible = true, transformation(origin = {-64, -86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sources.ConstantTorque constantTorque1(tau_constant = 10) annotation( + Placement(visible = true, transformation(origin = {98, -86}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Mechanics.Rotational.Sensors.SpeedSensor speedSensor1 annotation( + Placement(visible = true, transformation(origin = {88, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + OpenModelicaArduino.Boards.CustomFirmata customFirmata1(BaudRate = 57600, Port = "/dev/ttyACM0", ShowPinCapabilities = true, UpdatePeriod = 0.02, UseDTR = true) annotation( + Placement(visible = true, transformation(origin = {-10, 4}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput1(MaxValue = 512, MinValue = -512, Pin = 5) annotation( + Placement(visible = true, transformation(origin = {46, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogInput analogInput1(InitValue = 0, MaxValue = 512, MinValue = -512, Pin = 15) annotation( + Placement(visible = true, transformation(origin = {-64, 2}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + OpenModelicaArduino.Pins.AnalogOutput analogOutput2(MaxValue = 512, MinValue = -512, Pin = 6) annotation( + Placement(visible = true, transformation(origin = {-54, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Sine sine1(amplitude = 512, freqHz = 0.5) annotation( + Placement(visible = true, transformation(origin = {-122, 58}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + equation + connect(sine1.y, analogOutput2.u) annotation( + Line(points = {{-110, 58}, {-64, 58}, {-64, 58}, {-64, 58}}, color = {0, 0, 127})); + connect(analogOutput2.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-44, 58}, {-10, 58}, {-10, 4}})); + connect(analogInput1.y, torque1.tau) annotation( + Line(points = {{-74, 2}, {-84, 2}, {-84, 2}, {-94, 2}, {-94, -86}, {-76, -86}}, color = {0, 0, 127})); + connect(analogInput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{-54, 2}, {-10, 2}, {-10, 4}})); + connect(speedSensor1.w, analogOutput1.u) annotation( + Line(points = {{88, -25}, {89, -25}, {89, -23}, {88, -23}, {88, 3}, {56, 3}, {56, 1}}, color = {0, 0, 127})); + connect(analogOutput1.pinConnector, customFirmata1.boardConnector) annotation( + Line(points = {{36, 2}, {35.5, 2}, {35.5, 2}, {35, 2}, {35, 4}, {-10, 4}})); + connect(speedSensor1.flange, constantTorque1.flange) annotation( + Line(points = {{88, -46}, {88, -86}})); + connect(inertia2.flange_b, constantTorque1.flange) annotation( + Line(points = {{66, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}, {88, -86}})); + connect(torque1.flange, inertia1.flange_a) annotation( + Line(points = {{-54, -86}, {-37, -86}, {-37, -86}, {-32, -86}, {-32, -86}, {-31, -86}, {-31, -86}, {-32, -86}})); + connect(springDamper1.flange_b, inertia2.flange_a) annotation( + Line(points = {{26, -86}, {36, -86}, {36, -86}, {46, -86}, {46, -86}, {46, -86}})); + connect(inertia1.flange_b, springDamper1.flange_a) annotation( + Line(points = {{-12, -86}, {-3, -86}, {-3, -86}, {6, -86}, {6, -86}, {6, -86}})); + annotation( + uses(OpenModelicaArduino(version = "1.2"), Modelica(version = "3.2.2"), Modelica_DeviceDrivers(version = "1.5.0"))); + end DCMotorWithPID; + + + + + + + + annotation(Diagram(coordinateSystem(extent = {{-148.5, -105}, {148.5, 105}}, preserveAspectRatio = true, initialScale = 0.1, grid = {5, 5}))); end Examples; @@ -780,4 +848,4 @@ end BlinkLed; <p> </p> <p> </p></html>", 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;
\ No newline at end of file +end OpenModelicaArduino; |