Import data to app during simulation
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Hi,
I'm currently trying to control an robot using a matlab app controlling my simulink simulation.
For implementing the inverse kinematics I want to get the current rotation of the joints into my app. But when I try to use toWorkspace I can't access it via "evalin" or searching for it using "who".
So far I tried tons of approaches but nothing works and it starts making no sense to me.
Does anybody here have any experince in exporting live data from simulink into an app?
Here's the problematic part of my simulation/ code.
Thanks in advance! :)
function GOButtonLPushed(app, event)
% Get the values directly from the edit fields
lGoalX = app.rArmGoalXEditField.Value;
lGoalY = app.rArmGoalYEditField.Value;
lGoalZ = app.rArmGoalZEditField.Value;
lGoalXD = 0;
lGoalYD = 0;
lGoalZD = 0;
% Set the values in Simulink
set_param("base_kin/lArm/lGoalX", "value", num2str(lGoalX));
set_param("base_kin/lArm/lGoalY", "value", num2str(lGoalY));
set_param("base_kin/lArm/lGoalZ", "value", num2str(lGoalZ));
set_param("base_kin/lArm/lGoalXD", "value", num2str(lGoalXD));
set_param("base_kin/lArm/lGoalYD", "value", num2str(lGoalYD));
set_param("base_kin/lArm/lGoalZD", "value", num2str(lGoalZD));
%l
for i = 1:7
value = evalin('base', ['out.olJ', num2str(i)]);
disp(value)
lastValue = value.Data(end);
set_param(['base_kin/lArm/lJ', num2str(i)], 'value', num2str(lastValue));
end
%r
for i = 1:7
logsout = evalin('base', 'rJ'+num2str(i));
signalData = logsout.get(['rJ', num2str(i)]);
lastValue = signalData.Data(end); % Last value in the data array
set_param(['base_kin/rArm/rJ', num2str(i)], 'value', num2str(lastValue));
end
end
2 个评论
Walter Roberson
2024-12-21
Could you confirm that you are invoking sim() in a loop, each time advancing the StopTime parameter? "Logged data is written to the workspace when the simulation pauses or stops."
Julian
2024-12-22
采纳的回答
Walter Roberson
2024-12-22
0 个投票
To Workspace only updates when the simulation pauses or stops.
There are no blocks that will update variables in the workspace at run time.
What you can do is to use a MATLAB Function Block to assignin('base').
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