The error “Unrecognized function or variable x0” is because of the following:
- “x0” is not defined in the current workspace but is rather defined as a variable inside the simulation environment using the “setVariable” function.
- When “x0” is displayed using “disp(x0)”, MATLAB cannot find “x0” in the current workspace because it’s not explicitly defined here.
To display “x0”, store it in a local variable before calling “setVariable”. The following code stores the value of “a” in a local variable ”x0_value”:
function in = randomstart(in)
mdl = "whrobot";
a = 0.5;
% Set x0 and store its value in a local variable
x0_value = a; %will be stored in the current workspace
in = setVariable(in, "x0", x0_value, "Workspace", mdl);
in = setVariable(in, "y0", 2.6 + 3.4*rand, "Workspace", mdl); %will be stored in the simulation environment
in = setVariable(in, "theta0", pi*(2*rand-1), "Workspace", mdl);
in = setVariable(in, "v0", randn/3, "Workspace", mdl);
in = setVariable(in, "w0", randn/3, "Workspace", mdl);
disp(x0_value);
end
Refer to the following MathWorks documentation for more information on “setVariable”: https://www.mathworks.com/help/simulink/slref/simulink.simulationinput.setvariable.html
