文件列表:

truetime-1.3\docs\manual.pdf (875700, 2005-06-28)
truetime-1.3\examples\distributed\c++\actuator_init.cpp (1133, 2005-05-30)
truetime-1.3\examples\distributed\c++\controller_init.cpp (2336, 2004-09-13)
truetime-1.3\examples\distributed\c++\distributed.mdl (32592, 2005-05-30)
truetime-1.3\examples\distributed\c++\interference_init.cpp (957, 2004-09-13)
truetime-1.3\examples\distributed\c++\make.m (334, 2005-06-28)
truetime-1.3\examples\distributed\c++\sensor_init.cpp (1064, 2004-09-22)
truetime-1.3\examples\distributed\matlab\actcode.m (178, 2003-06-24)
truetime-1.3\examples\distributed\matlab\actuator_init.m (487, 2004-09-13)
truetime-1.3\examples\distributed\matlab\controller_init.m (967, 2004-09-13)
truetime-1.3\examples\distributed\matlab\ctrlcode.m (415, 2004-02-23)
truetime-1.3\examples\distributed\matlab\distributed.mdl (32566, 2005-06-21)
truetime-1.3\examples\distributed\matlab\dummycode.m (125, 2002-11-01)
truetime-1.3\examples\distributed\matlab\interfcode.m (218, 2005-06-21)
truetime-1.3\examples\distributed\matlab\interference_init.m (497, 2004-09-13)
truetime-1.3\examples\distributed\matlab\msgRcvActuator.m (94, 2004-08-19)
truetime-1.3\examples\distributed\matlab\msgRcvCtrl.m (90, 2004-08-19)
truetime-1.3\examples\distributed\matlab\msgRcvInterf.m (85, 2004-09-13)
truetime-1.3\examples\distributed\matlab\msgRcvSensor.m (111, 2003-08-06)
truetime-1.3\examples\distributed\matlab\senscode.m (250, 2005-01-18)
truetime-1.3\examples\distributed\matlab\sensor_init.m (540, 2004-09-13)
truetime-1.3\examples\motes\code.m (3030, 2005-06-23)
truetime-1.3\examples\motes\init.m (469, 2005-06-02)
truetime-1.3\examples\motes\moteanimation.m (4249, 2005-06-27)
truetime-1.3\examples\motes\motes.mdl (45775, 2005-06-22)
truetime-1.3\examples\motes\msgRcv.m (130, 2005-06-02)
truetime-1.3\examples\motes\node_init.m (821, 2005-06-02)
truetime-1.3\examples\overrun\hdlcode.m (255, 2004-08-23)
truetime-1.3\examples\overrun\overrun.mdl (13148, 2005-05-30)
truetime-1.3\examples\overrun\overrun_init.m (1052, 2005-06-21)
truetime-1.3\examples\overrun\pidcalc.m (281, 2004-08-19)
truetime-1.3\examples\overrun\pidcode.m (396, 2004-08-19)
truetime-1.3\examples\simple_pid\c++\controller.mdl (12393, 2003-10-23)
truetime-1.3\examples\simple_pid\c++\servo.mdl (13092, 2005-06-21)
truetime-1.3\examples\simple_pid\c++\servo_init.cpp (5114, 2004-09-13)
truetime-1.3\examples\simple_pid\matlab\blockcode.m (277, 2004-09-13)
truetime-1.3\examples\simple_pid\matlab\controller.mdl (12393, 2003-10-23)
... ...

----------------------------------------------- TrueTime version 1.3 Example: Control and Coordination of Mobile Motes Directory: $DIR/examples/motes ----------------------------------------------- 1. INTRODUCTION This example shows how to visualise the movements of dynamically moving motes using the built in functionality of Matlab. The example consists of three motes, with dynamics in the "x" and "y" directions modeled using simple integrators. The motes are sent out on a mission which consists of visiting a number of checkpoints, seen as red marks in the animation window. In the window, the transmission range of the motes can be seen as large partly transparent coloured circles around the smaller coloured motes. The checkpoints should be visited at least once by some node in the group. When the motes are able to communicate, they tell each other where they are heading and share information on which nodes that have been visited by the group. When a checkpoint has been visited it changes colour from green to red. 2. COMPILING THE SIMULATION FILES 2.1 Configuring the TrueTime Environment Before starting Matlab, you must set the environment variable TTKERNEL to point to the directory with the TrueTime kernel files: Unix/Linux: > export TTKERNEL=$DIR/kernel Windows: Control Panel / System / Advanced / Environment Variables Then add the following lines to your MATLAB startup script. This will set up all necessary paths to the TrueTime kernel files. addpath(getenv('TTKERNEL')) init_truetime; 2.2 Compilation As described in the reference manual it is possible to write a TrueTime simulation (i.e. the code functions for the tasks and the initialization commands) either as m-files or as C++ functions. For this example only the m-file approach is provided. TrueTime in the MATLAB version is compiled once and for all by running the command make_truetime from the command prompt. This should be done the first time you are using TrueTime and no further compilation is then required. 3. SIMULATIONS Open the model motes.mdl to run the simulation. - Run init.m to set up the data structures before you run the simulation. - Run the simulation to see the animation. If you are interested in building your own custom animation, look at the file moteanimation.m where the "patch" command is used to paint the initial picture of every mote. These pictures are then moved with the "set" command using the "XData" and "YData" parameters.

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