Processing blocks¶

A processing block is a block of code that consumes data from its inputs, processes this data based on the provided configuration, and produces the result on its output signals.

The number of inputs, outputs & parameters of the processing block and its behavior are defined by a template. The templates can be loaded from files provided by Prodrive Technologies or can be created yourself. In Simulink code generation is described how to generate custom processing block templates via Simulink and C++. This section describes the processing block templates provided by Prodrive Technologies.

Note

Processing block templates are provided for different processor architectures. Make sure you use the binary that corresponds with the architecture of your target platform:

bb-armv8a_64 - ARM based controller, e.g. the Arcas motion controller.
bb-x86_64 - x86 based controller, e.g. the Poseidon-CFL motion controller.
windows-x86_64 - PMP simulator on Windows.
linux-x86_64 - PMP simulator on Linux.

Control networks¶

Control networks¶
Name	Description
Feedforward	Feedforward implementation with Coulomb, viscous, acceleration, jerk and snap feedforward.
PositionControlAdvanced	Position feedback control implementation with PID, 4 biquad filters, settling state machine and delay matching.
PositionControlSimple	Position feedback control implementation with PID and 2 biquad filters.
VelocityControlAdvanced	Velocity feedback control implementation with PID, 2 biquad filters, velocity state observer and delay matching.
VelocityControlSimple	Velocity feedback control implementation with PID and a biquad filter.
GenericFeedbackControl	Generic feedback control implementation for control processes unrelated to motion.
PlantSecondOrderMechanical	Second order mechanical model for plant simulation.

Signal routing and conversion¶

Signal routing and conversion¶
Name	Description
Sum	Sum with 2 or 10 inputs.
GainOffset	Gain with an offset after the gain, for example for position feedback scaling from encoder counts to SI units.
OffsetGainOffset	Gain with offsets before and after the gain.
PositionBasedAngle	Electrical angle determination from a position sensor using the pole pair count and the pole distance.
NtcConversion	Temperature determination from a resistance using the Steinhart-Hart equation.

Waveform generators¶

Waveform generators¶
Name	Description
PseudoRandomNoiseGenerator	Pseudo-random noise generator.
SineGenerator	Sine waveform generator with support for sine sweeps.
TrapeziumGenerator	Trapezium waveform generator.
UserDefinedSequence	User-defined sequence waveform generator with 10k or 1M samples.

Event generators¶

Event generators¶
Name	Description
BooleanMatch	Event generation based on a boolean condition.
MovingStatistics	Moving mean, variance and standard deviation calculation with anomaly detection based on dynamically calculated thresholds.

Miscellaneous¶

Miscellaneous¶
Name	Description
UserSignals	Additional general purpose read-write signals.