Bugfix. Properly setting the collision threshold values in Simulink.
Windows 10 support (Experimental mainly due to the non Real-Time nature of the default Windows system).
Project now relies on the leaner “Generic Real-Time” .tlc (grt.tlc) target framework.
Support for XCP communication protocol (vehicle network communication). Data inspector is now enabled!
Support for “Run on custom Hardware” Simulink App for controlling the “Build-deploy-execute-connect” workflow.
Project back-end overall simplification with modified rt_main.cpp for handling the external mode as a separate thread.
BREAKING all the Franka Matlab functions are starting with the
Expansion of Matlab library with the functions
Addition of the Simulink demo, “joint_impedance_control.slx”.
Fixing the bug when utilizing the Control Modes “Torque Control - X”.
Adding support for all versions from Matlab2019a till Matlab2021a with libfranka 0.9.0.
franka_matlab upgrade, supports Matlab2019a, Matlab2019b, Matlab2020a, Matlab2020b, Matlab2021a & libfranka 0.8.0.
Any dependencies that lead to source code linking for the Simulink Franka Library during mexing removed. That fixes the memory corruption bug when shutting down Matlab.
Simulink Franka Library sFunctions C++ and tlc implementations decoupled from src code necessary for automatic code gen. SRC Folder can be treated separately as a C++ project.
Simulink Library for Panda Robot, includes the following blocks:
Franka Simulink Interface for applying the desired control, plus additional parameters.
Read Initial Robot State for reading initial values during the first execution step for any desirable signal. The set of the desired signals can be set through the mask in free text form.
Read Robot State for reading the values of any desirable signal during execution. The set of the desired signals can be set through the mask in free text form.
Panda Model for reading the values of all Model parameters of the Panda Robot during execution.
Duration Period for reading the current step, sample time. If communication is not secured during the 1ms, the block will return the value of 2ms or 3ms etc.
Gripper Read State for reading the current values out of the Panda Gripper.
franka_emika_panda.tlc & franka_emika_panda_shrlib.tlc custom linux targets, based on ert, that offer ext mode that is real time capable(package drop in case of main step frame loss).
Matlab Library(Experimental, limited support), includes the following command:
automatic_error_recovery(robot_ip). Execute through a matlab command line for getting automatically out of an error state.
Simulink Library misc(Experimental, limited support) that includes a set of UI buttons with callback scripts with the potential to automate some of the dev. workflow.