course angle control using simulink PID and a c++ code

Hello fellows, i've prepared a simple c++ code that generates the course angle of a robot given its current position and the desired one. I'd like to link this code to simulation using simulink PID block. Note that my experience with simulink is limited, all i know is that i can put a PID block and a scoop to receive the result. I'd appreciate it if you helped.

Answer 1

[Michelle Wu]

I am assuming that you are looking to include existing C++ code in Simulink. There are three ways which allows you to integrate C++ code into Simulink:

1) You can integrate existing C (or C++) functions, such as device drivers, lookup tables, and general functions and interfaces, into Simulink models by using the Legacy Code Tool. Please refer to the following documentation for more information:

http://www.mathworks.com/help/simulink/sfg/integrating-existing-c-functions-into-simulink-models-with-the-legacy-code-tool.html

2) You can manually write a wrapper S-function to call external C++ code. The procedure is very similar to writing a wrapper function in C. Please refer to the following doc page:

http://www.mathworks.com/help/ecoder/ug/s-functions-for-code-generation.html

3) Another option is to use Stateflow custom code interface. You may refer to the following documentation:

http://www.mathworks.com/help/stateflow/ug/procedures-for-simulation.html

There is also an example available demonstrating how to use Stateflow to integrate external code into a model:

http://www.mathworks.com/examples/stateflow/mw/stateflow_product-sf_cpp-including-custom-c-code

After creating the necessary blocks (S-Function block or Stateflow chart) to include the C++ code, you can use them together with the PID Controller block for your application.