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Component DSL

This project provides an MPS language for describing systems in terms of component classes, component instances and connections between component ports.

TODO More Overview

Hello World Example

This project includes a model for a simple hypothetical robotic system. The system consists of three components:

  • a joint-space trajectory generator
  • an unspecific torque-based controller which accepts joint-space position and velocity feedback
  • and a robot interface which accepts torque commands and provides joint-space position, velocity and acceleration measurements

The MPS model for this "hello word" system can be found in the HelloWord model within the Component.sandbox solution. It contains three component descriptions:

  • JointConfigurationTrajectory
  • JointTrqConfigurationController
  • RobotInterface

corresponding to the component types described above. The MinimalJntTrqControlSystem model element describes the system in terms of component instances and connections between ports.