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--- lego_rip_simulation_cad [2017/02/27 10:35] – joaomatos
+++ lego_rip_simulation_cad [2017/02/27 11:41] (current) – joaomatos
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 ===== Step by Step instructions =====
-You can get all the necessary .STL parts to build the RIP project on this file bellow. If you want the assembly already done, you can find inside the folder "only sensors building" named as “PendulumAssembly”
+You can get all the necessary .STL parts to build the RIP project on this file bellow. If you want the assembly already done, you can find inside the folder "only sensors building" named as “PendulumAssembly”. Also you can find my Simulink block diagrams with all the controllers done under the folder "only sensors building"
 {{::rip_kit.rar| Kit for the RIP project}}
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 **Under Actuation** ,you can enable/disable the input of some torque on this joint. Latter on the controlled version , we will enable torque input on the “motor” joint , to simulate the torque that the motor give to the system (provided by the LQR calculation).
 Under Sensing , is where you can enable the option to get the “real time” data from this joint . For our controlled version , we will enable position and velocity data.
+**To get data from the sensing** , connect a simulink "PS-SIMULINK" block to the output port on the right side of the joint block. On the "PS-SIMULINK" block you can set the unit of the variable that you are measuring ( for example , radians for angles , and radians/seconds for velocity ).  **To send data** (for example send the torque input to the motor joint)  you use the "SIMULINK-PS" block. On this block you can set the unit for the input that you are sending, for example N*m for Torque.
 With this briefly explanation you should be able to wire some blocks and make your control scheme and see if it works. I will provide my block diagram with the controller using PD provided by the LQR calculation. There is a lot of ways to construct your block diagram , use your creativity!