Rensselaer Arduino Support Package Library (RASPLib)

バージョン 2.13 (23.5 MB) 作成者: Joshua Hurst
Simulink sensor and motor driver library for Arduino
ダウンロード: 24.8K
更新 2021/12/31
A Simulink Arduino toolbox with blocks for: quadrature encoder, compass/magnetometer, barometer, temperature, accelerometer, gyroscope, ultrasonic, driver amplifier (DC motor driver), and simple serial communication and plotting tools.
Supported I2C Sensors: MPU6050, MPU9250, HMC5883, BMP180, BMP280, MS5611, BMI160 (commonly found on GY-521, GY-271, GY-91, GY-87), HC-SR04, VL53L0X, QMC5883.
Examples are provided for basic hardware IO, step response and closed loop control of an Lego NXT motor.
Download includes basic curriculum labs describing the following:
- Simulink Arduino Intro Blinking LED
- RASPlib Installation Instructions
- Analog and Encoder input, and PWM output
- Gyroscope Reading and Calibrating
- Magnetometer - Making a Compass
- Serial Communication Basics
- Bluetooth Communication
- DC Motor Step Response
- Realistic DC Motor Simulation
- Basic DC Motor Control
- Realistic PI Controller Simulation
- DC Motor Parameter ID
- DC Motor Control with Full State Feedback and LQR
- Determining Angle with Complementary Filter
- Basic Balancing Lab
- Ultrasonic Distance Sensor
- Solving ODEs with MATLAB and Simulink
Labs are draft labs. Please contact with suggestions or help before leaving negative feedback.
Tested Matlab Versions 2015a-2021a. Support for Mega, Nano and Uno. Not tested or expected to work with Due without modification.
We highly recommend 2015a 32 bit for the best user experience. It is the fastest for compile and connection times and it the most tested version. 2020a also highly recommended.


Joshua Hurst (2024). Rensselaer Arduino Support Package Library (RASPLib) (, GitHub. 取得済み .

MATLAB リリースの互換性
作成: R2015a
R2015a 以降 R2021a 以前と互換性あり
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ヒントを得たファイル: Device Drivers


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バージョン 公開済み リリース ノート

See release notes for this release on GitHub:


minor fixes


Minor fixes to balance code


See release notes for this release on GitHub:


Remote Control Balancing App for MinSegs, updated serial connect, tune and plot for Nano systems


typo fixes


- QMC5883 driver block
- Additional Labs updated for 2020a
- MinSegMega V4, MinSegNano V3, and MinSegMotor examples created


- Added support for Nano V3
- Added driver blocks with Voffset (more intuitive/easier than PWMoffset)
- fixed sampling time error for PWM frequency block in 2019b/2020a
- Separated Magnetometer from 9250 block (Magnetometer read is slow)


Updated M2V5 and MinSegNano Demo Files


PWM frequency bug fix. Added support for MinSegMegaV3 and MinSegShield M2V5. Changed file naming convention for clarity. VL53L0X time-of-flight sensor support block added. Other minor fixes. Verified support with 2019a.

Bug fix for 2015a serial plot

formatting update

updated description to recommend 2015a

Data sync improvements for serial plotting of with multiple channels

- Added support for ultrasonic sensor up to 2018a
- Added functionality to 3 ultrasonic sensors. Code works by modifying Tone.cpp to not use Timer 2 ISR so ultrasonic library can be used.

- Added a synchronization string to the SerialPlot block. This allows versions after 2017a to sync data sent to the serial line for plotting/saving data.

- added support for BMI160 Gyroscope Accelerometer (BMI160 seems to be more robust to noise than MPU6050)
- added serial plot for multiple channels (useful for boards without external mode like nano)
- fixed system objects to be compatible with 2018a

- PWM frequency selection blocks (for Magnetic Levitation kits)
- BMP180 barometer driver
- support MinSegNano, MinSegPro, and MinSegShield M1V5
- HCSR04 ultrasonic driver workaround for 2015b or later

minor bugs and fixes
updated image file

added library image
minor formatting updates
minor edits
minor edit
minor edits
minor edit
minor updates

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