Modeling

Prepare model for hardware connection, add blocks to support VEX^® EDR V5 Robot Brain

Blocks

Actuators

DC Motor	Represent connected DC motor and set motor speed
Digital Output	Set logical value to the 3-wire port on VEX EDR V5 Robot Brain
Servo Motor	Represent connected servo motor and set angular position value
Smart Motor Write	Represent connected V5 Smart Motor and set its velocity and position

Drivetrain

Differential Drive

Set up differential drive and control robot pose

Gamepad

Gamepad Button	Represent one of the 12 buttons on VEX V5 Controller gamepad and read the logical value of the button
Gamepad Joystick	Represent one of the control axis on an x-y analog joystick on VEX V5 Controller gamepad and read the values
Competition Switch	Read the switch positions of VEXnet Competition Switch or field controller

Sensors

Analog Input	Read analog values from the 3-wire port on VEX EDR V5 Robot Brain
Digital Input	Read logical values from the 3-wire port on VEX EDR V5 Robot Brain
Smart Motor Read	Represent connected V5 Smart Motor and read encoder values
Vision Sensor	Represent connected V5 Vision Sensor and read coordinates of color blobs (objects)
Optical Shaft Encoder	Represent connected Optical Shaft Encoder and read relative position of motor shaft in ticks
Ultrasonic Sensor	Represent connected Ultrasonic sensor and measure distance to object
Gyroscope	Represent connected gyroscope and measure yaw angle
Inertial Sensor	Measure orientation, acceleration, and angular rate
Distance Sensor	Read distance, velocity, and relative size of obstacle
Optical Sensor	Read proximity, color, and brightness
Rotation Sensor	Read shaft position and velocity
Rotation Sensor	Read shaft position and velocity
GPS Sensor	Read position and orientation

Utilities

Arcade Module	Get the right and left wheel speed values of a robot in an Arcade configuration
Field Simulator	View the simulation speed values of a two-wheel robot
Gamepad Simulator	Get the simulation value of a VEX gamepad using Logitech F310 or XBOX Controller
Gear Transmission	Set a scalar value (1 to 4) based on input values
Latch	Latch the logical value based on the change in the input signal

Topics

Model Configuration Parameters for VEX EDR V5 Robot Brain
Parameter and configuration options for creating and running applications on VEX EDR V5 Robot Brain
Log Signals on an SD Card

Log signals from Simulink^® models on an SD card mounted on the target hardware
- STEP 1: Prerequisites for Logging Signals
- STEP 2: Configure Board Parameters and Enable MAT-File Logging
- STEP 3: Configure Model to Log Signals on SD Card
- STEP 4: Run Model on Target Hardware
- STEP 5: Import MAT-Files into MATLAB
Creating Touch Screen Controls and Displays for VEX V5 Robot Brain
Deploy Display and Push button Dashboard blocks on VEX EDR V5 Robot Brain
Monitoring Signals for Gyroscope Calibration Using the VEX V5 Touch Screen
Monitor signals for Gyroscope calibration using the VEX V5 Robot Brain
Simulate a VEX Robot with Simulink and Gazebo
Model robot’s control algorithm in Simulink and Simulate the robot in Gazebo
Set Up Gazebo Simulation Environment
Model robot’s control algorithm in Simulink and Simulate the robot in Gazebo
Transitioning from Gazebo Simulation to Deployment
Transition programming to the actual robot
Troubleshooting Gazebo Simulation
Solve the problems that you might encounter while simulating a model in Gazebo simulation environment

Featured Examples

Getting Started with Simulink Coder Support Package for VEX EDR V5 Robot Brain

Use Simulink® Coder™ Support Package for VEX® EDR V5 Robot Brain to run a Simulink model on a VEX V5 Robot Brain.

Tank Robot Control Using V5 Smart Motor and V5 Controller Joystick

Use the Simulink® Coder™ Support Package for VEX® EDR V5 Robot Brain to control a two-wheeled tank robot using two V5 Smart Motors and the joystick on the V5 Controller gamepad.

Servo Control Using a V5 Controller Button

Use Simulink® Coder™ Support Package for VEX® EDR V5 Robot Brain to control a servo motor using a button on V5 Controller gamepad.

Parameter Tuning and Signal Logging with Serial External Mode

Perform parameter tuning and data logging with a Simulink® model running in External mode on VEX® EDR V5 Robot Brain.

Autonomous Mode and Driver Mode with VEX EDR V5 Robot Brain

Use Simulink® Coder™ Support Package for VEX® EDR V5 Robot Brain to implement Pre-Autonomous, Autonomous, and Driver Controlled modes in the same Simulink model.

Follow a Colored Object Using VEX V5 Vision Sensor

Use Simulink® Coder™ Support Package for VEX® EDR V5 Robot Brain to control a robot in arcade mode by following a colored object detected by a V5 Vision Sensor.

Open Script

Line Follower with Arm and Claw Position Control Using Line Tracker and Potentiometer

Use Simulink® Coder™ Support Package for VEX® EDR V5 Robot Brain to create a line follower robot with a robotic arm and claw control using the VEX Clawbot. The robot, with an object manually placed between its claw, follows a black line on a white surface. When the end of the black line is reached, which is indicated by a wider black line, the robot stops, lowers the robotic arm and drops the object held between its claws. Three VEX Line Trackers will be used for the purpose of following a black line, a potentiometer for the control of robotic arm position, and the in-built encoder of V5 Smart Motor for the control of the claw opening.

Open Script

Select Different Robot Autonomous Modes Using the VEX V5 Robot Brain

Use Simulink® Coder™ Support Package for VEX® V5 Robot Brain and create custom user interfaces on the LCD touch screen of VEX V5 Robot Brain using Display and Push Button Simulink Dashboard blocks.

Open Example

Heading Control Using VEX V5 Inertial Sensor

Use the VEX® V5 Inertial Sensor block for heading control of VEX V5 robot.

Open Example

Follow Square Trajectory Using Differential (Tank) Drive

Use the Differential (Tank) Drive block for controlling the VEX® V5 robot to follow a square trajectory.

Open Example

Getting Started with VEX V5 Distance Sensor

Use the Simulink® Coder™ Support Package for VEX® V5 Robot Brain to run a Simulink model with Distance Sensor block on a VEX V5 Robot Brain. This example helps you to determine the distance, velocity, and relative size of object using distance sensor.

Open Script

Getting Started with VEX V5 Optical Sensor

Use a VEX® V5 Optical sensor with Simulink® Coder™ Support Package for VEX® V5 Robot Brain. It illustrates how to obtain proximity and color readings in HSB scale. It uses a Stateflow® chart to check if a particular color is being detected or not.

Open Script

Getting Started with VEX V5 Rotation Sensor

Use a VEX® V5 Rotation Sensor with Simulink® Coder™ Support Package for VEX V5 Robot Brain. This example illustrates how to read angular position and velocity of a shaft connected to rotation sensor. Also, it demonstrates how to use a 'Math Function (mod)' for wrapping angle from 0 to 360 degrees.

Open Script

Simulate Stability Assistance Algorithm Using Gazebo Simulator for VEX V5 Robot

Model a robot's control algorithm in Simulink® and simulate the robot using Gazebo simulator. A VEX® V5 Robot is preconfigured in Gazebo Simulator along with a virtual world. The control algorithm is modelled in Simulink and the model is interfaced using Gazebo Co-simulation blocks. This example also allows you to perform stability assistance while lifting heavy objects using feedback from an IMU sensor.

Open Example

Pick-and-Place Simulation for VEX Robot Using Gazebo Simulator

Model the pick-and-place algorithm for a VEX® robot and then simulate the robot in a Gazebo simulator. This example uses a pre-configured Simulink model created for Gazebo simulator (along with a virtual world). The robot's control algorithm is modelled as a Stateflow® chart in Simulink. Simulink reads data from sensors and writes commands to motors in Gazebo using Gazebo co-simulation blocks.

Open Example

Detect Objects Using Vision Sensor in Gazebo Simulator

Use a simulated vision sensor to detect colored objects in the field and perform actions based on it. This example uses a pre-configured Simulink® model created for Gazebo simulator (along with a virtual world). The robots control algorithm is modelled as a Stateflow® chart in Simulink. Simulink reads data from sensors and writes commands to motors in Gazebo using Gazebo co-simulation blocks.

Open Example

Navigating VEX Robot with Wheel Odometry in Gazebo Simulator

Simulate a robot moving from one point to another using wheel encoders. This example has a model of VEX® robot created for Gazebo simulator (along with a virtual world). The robot's control algorithm is modelled as a Stateflow® chart in Simulink®. Simulink reads data from sensors and writes commands to motors in Gazebo using Gazebo co-simulation blocks.

Open Example

X-Drive Robot Navigation with VEX V5 GPS Sensor

Use a VEX® V5 GPS Sensor with Simulink® Coder™ Support Package for VEX V5 Robot Brain and control the robot to follow a set of waypoints.

Open Example