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d3a554e · Jun 4, 2020

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Simulink - VREP

Simulink - VREP interface

To run this, you should have a file of joint trajectories previously generated (N+1 columns: the first one has the time instant, the others accounts for the joints). This file has to be linked at line 4 of load_path.m. Modify also line 2 for the total execution time and line 30 of the same file the total number of columns found.

Then, keep open the Simulink file and the V-REP scene. In Simulink, modify the total execution time (and the number of scopes, if needed) and run. The movement will start also in V-REP.

IMPORTANT: in Simulink, you may need to modify the callbacks function. Go to Simulation > Model Properties > Model Properties > Callbacks and modify InitFcn and StopFcn as suggested in the corresponding txt files.