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  • Modeling

    Design Models

    Model Hierarchy

    Subsystem Represent system within another system
    Model Include model as block in another model

    Nonlinearity

    1-D Lookup Table Approximate one-dimensional function
    2-D Lookup Table Approximate two-dimensional function
    Direct Lookup Table (n-D) Index into N-dimensional table to retrieve element, column, or 2-D matrix
    Interpolation Using Prelookup Use precalculated index and fraction values to accelerate approximation of N-dimensional function
    Lookup Table Dynamic Approximate one-dimensional function using dynamic table
    n-D Lookup Table Approximate N-dimensional function
    Prelookup Compute index and fraction for Interpolation Using Prelookup block
    Sine, Cosine Implement fixed-point sine or cosine wave using lookup table approach that exploits quarter wave symmetry

    Control Flow Logic

    If Action Subsystem Represent subsystem whose execution is triggered by If block
    If Model if-else control flow
    Switch Case Action Subsystem Represent subsystem whose execution is triggered by Switch Case block
    Switch Case Implement C-like switch control flow statement
    Action Port Implement Action subsystems used in if and switch control flow statements
    While Iterator Subsystem Represent subsystem that executes repeatedly while condition is satisfied during simulation time step
    While Iterator Repeatedly execute contents of subsystem at current time step while condition is satisfied
    For Iterator Subsystem Represent subsystem that executes repeatedly during simulation time step
    For Iterator Repeatedly execute contents of subsystem at current time step until iteration variable exceeds specified iteration limit

    Conditional Subsystems

    Enabled Subsystem Represent subsystem whose execution is enabled by external input
    Triggered Subsystem Represent subsystem whose execution is triggered by external input
    Enabled and Triggered Subsystem Represent subsystem whose execution is enabled and triggered by external input
    Enable Add enabling port to system
    Trigger Add trigger port to model or subsystem
    Subsystem Represent system within another system
    Inport Create input port for subsystem or external input
    Outport Create output port for subsystem or external output
    Configurable Subsystem Represent any block selected from user-specified library of blocks
    Function-Call Subsystem Represent subsystem that can be invoked as function by another block
    Variant Subsystem Represent a subsystem with multiple subsystems
    Function-Call Feedback Latch Break feedback loop involving data signals between function-call blocks
    Function-Call Generator Execute function-call subsystem specified number of times at specified rate
    Function-Call Split Provide junction for splitting function-call signal
    For Each Subsystem Repeatedly perform algorithm on each element or subarray of input signal and concatenate results
    For Each Enable blocks inside For Each Subsystem to process elements or subarrays of input signal independently

    Configure Models

    Signals

    Signal Specification Specify desired dimensions, sample time, data type, numeric type, and other attributes of signal
    Bus to Vector Convert virtual bus to vector
    IC Set initial value of signal
    Probe Output signal attributes, including width, dimensionality, sample time, and complex signal flag
    Rate Transition Handle transfer of data between blocks operating at different rates
    Signal Conversion Convert signal to new type without altering signal values
    Weighted Sample Time Support calculations involving sample time
    Width Output width of input vector

    Data Types

    Block Support Table View data type support for Simulink blocks
    Data Type Conversion Convert input signal to specified data type
    Data Type Conversion Inherited Convert from one data type to another using inherited data type and scaling
    Data Type Duplicate Force all inputs to same data type
    Data Type Propagation Set data type and scaling of propagated signal based on information from reference signals
    Data Type Scaling Strip Remove scaling and map to built in integer

    Visual Presentation

    Annotations

    DocBlock Create text that documents model and save text with model
    Model Info Display model properties and text in model

    Transform Models

    Trimming and Linearization

    Timed-Based Linearization Generate linear models in base workspace at specific times
    Trigger-Based Linearization Generate linear models in base workspace when triggered

    Block Libraries

    Continuous

    Integrator Integrate signal
    Derivative Output time derivative of input
    Integrator Limited Integrate signal
    PID Controller Simulate continuous- or discrete-time PID controllers
    PID Controller (2 DOF) Simulate continuous- or discrete-time two-degree-of-freedom PID controllers
    Second-Order Integrator Integrate input signal twice
    Second-Order Integrator Limited Integrate input signal twice
    State-Space Implement linear state-space system
    Transfer Fcn Model linear system by transfer function
    Transport Delay Delay input by given amount of time
    Variable Time Delay Delay input by variable amount of time
    Variable Transport Delay Delay input by variable amount of time
    Zero-Pole Model system by zero-pole-gain transfer function

    Discontinuities

    Saturation Limit range of signal
    Backlash Model behavior of system with play
    Coulomb and Viscous Friction Model discontinuity at zero, with linear gain elsewhere
    Dead Zone Provide region of zero output
    Dead Zone Dynamic Set inputs within bounds to zero
    Hit Crossing Detect crossing point
    Quantizer Discretize input at specified interval
    Rate Limiter Limit rate of change of signal
    Rate Limiter Dynamic Limit rising and falling rates of signal
    Relay Switch output between two constants
    Saturation Dynamic Bound range of input
    Wrap To Zero Set output to zero if input is above threshold

    Discrete

    Discrete-Time Integrator Perform discrete-time integration or accumulation of signal
    Unit Delay Delay signal one sample period
    Delay Delay input signal by fixed or variable sample periods
    Difference Calculate change in signal over one time step
    Discrete Derivative Compute discrete-time derivative
    Discrete FIR Filter Model FIR filters
    Discrete Filter Model Infinite Impulse Response (IIR) filters
    Discrete PID Controller Simulate continuous- or discrete-time PID controllers
    Discrete PID Controller (2 DOF) Simulate continuous- or discrete-time two-degree-of-freedom PID controllers
    Discrete State-Space Implement discrete state-space system
    Discrete Transfer Fcn Implement discrete transfer function
    Discrete Zero-Pole Model system defined by zeros and poles of discrete transfer function
    First-Order Hold Implement first-order sample-and-hold
    Memory Output input from previous time step
    Resettable Delay Delay input signal by variable sample period and reset with external signal
    Tapped Delay Delay scalar signal multiple sample periods and output all delayed versions
    Transfer Fcn First Order Implement discrete-time first order transfer function
    Transfer Fcn Lead or Lag Implement discrete-time lead or lag compensator
    Transfer Fcn Real Zero Implement discrete-time transfer function that has real zero and no pole
    Variable Integer Delay Delay input signal by variable sample period
    Zero-Order Hold Implement zero-order hold of one sample period

    Logic and Bit Operations

    Logical Operator Perform specified logical operation on input
    Relational Operator Perform specified relational operation on inputs
    Bit Clear Set specified bit of stored integer to zero
    Bit Set Set specified bit of stored integer to one
    Bitwise Operator Specified bitwise operation on inputs
    Combinatorial Logic Implement truth table
    Compare To Constant Determine how signal compares to specified constant
    Compare To Zero Determine how signal compares to zero
    Detect Change Detect change in signal value
    Detect Decrease Detect decrease in signal value
    Detect Fall Negative Detect falling edge when signal value decreases to strictly negative value, and its previous value was nonnegative
    Detect Fall Nonpositive Detect falling edge when signal value decreases to nonpositive value, and its previous value was strictly positive
    Detect Increase Detect increase in signal value
    Detect Rise Nonnegative Detect rising edge when signal value increases to nonnegative value, and its previous value was strictly negative
    Detect Rise Positive Detect rising edge when signal value increases to strictly positive value, and its previous value was nonpositive
    Extract Bits Output selection of contiguous bits from input signal
    Interval Test Determine if signal is in specified interval
    Interval Test Dynamic Determine if signal is in specified interval
    Shift Arithmetic Shift bits or binary point of signal

    Lookup Tables

    1-D Lookup Table Approximate one-dimensional function
    2-D Lookup Table Approximate two-dimensional function
    Cosine Implement fixed-point sine or cosine wave using lookup table approach that exploits quarter wave symmetry
    Direct Lookup Table (n-D) Index into N-dimensional table to retrieve element, column, or 2-D matrix
    Interpolation Using Prelookup Use precalculated index and fraction values to accelerate approximation of N-dimensional function
    Lookup Table Dynamic Approximate one-dimensional function using dynamic table
    Prelookup Compute index and fraction for Interpolation Using Prelookup block
    Sine Implement fixed-point sine or cosine wave using lookup table approach that exploits quarter wave symmetry
    n-D Lookup Table Approximate N-dimensional function

    Math Operations

    Gain Multiply input by constant
    Product Multiply and divide scalars and nonscalars or multiply and invert matrices
    Sum Add or subtract inputs
    Vector Concatenate Concatenate input signals of same data type to create contiguous output signal
    Slider Gain Vary scalar gain using slider
    Dot Product Generate dot product of two vectors
    Product of Elements Copy or invert one scalar input, or collapse one nonscalar input
    Divide Divide one input by another
    Add Add or subtract inputs
    Subtract Add or subtract inputs
    Sum of Elements Add or subtract inputs
    Abs Output absolute value of input
    Math Function Perform mathematical function
    Trigonometric Function Specified trigonometric function on input
    Rounding Function Apply rounding function to signal
    Sign Indicate sign of input
    Sqrt Calculate square root, signed square root, or reciprocal of square root
    Signed Sqrt Calculate square root, signed square root, or reciprocal of square root
    Reciprocal Sqrt Calculate square root, signed square root, or reciprocal of square root
    Algebraic Constraint Constrain input signal to zero
    Assignment Assign values to specified elements of signal
    Bias Add bias to input
    Complex to Magnitude-Angle Compute magnitude and/or phase angle of complex signal
    Complex to Real-Imag Output real and imaginary parts of complex input signal
    Find Find nonzero elements in array
    Magnitude-Angle to Complex Convert magnitude and/or a phase angle signal to complex signal
    Matrix Concatenate Concatenate input signals of same data type to create contiguous output signal
    MinMax Output minimum or maximum input value
    MinMax Running Resettable Determine minimum or maximum of signal over time
    Permute Dimensions Rearrange dimensions of multidimensional array dimensions
    Polynomial Perform evaluation of polynomial coefficients on input values
    Real-Imag to Complex Convert real and/or imaginary inputs to complex signal
    Reshape Change dimensionality of signal
    Sine Wave Function Generate sine wave, using external signal as time source
    Squeeze Remove singleton dimensions from multidimensional signal
    Unary Minus Negate input
    Weighted Sample Time Math Support calculations involving sample time

    Model Verification

    Assertion Check whether signal is zero
    Check Dynamic Gap Check that gap of possibly varying width occurs in range of signal's amplitudes
    Check Dynamic Range Check that signal falls inside range of amplitudes that varies from time step to time step
    Check Static Gap Check that gap exists in signal's range of amplitudes
    Check Static Range Check that signal falls inside fixed range of amplitudes
    Check Discrete Gradient Check that absolute value of difference between successive samples of discrete signal is less than upper bound
    Check Dynamic Lower Bound Check that one signal is always less than another signal
    Check Dynamic Upper Bound Check that one signal is always greater than another signal
    Check Input Resolution Check that input signal has specified resolution
    Check Static Lower Bound Check that signal is greater than (or optionally equal to) static lower bound
    Check Static Upper Bound Check that signal is less than (or optionally equal to) static upper bound

    Model-Wide Utilities

    Block Support Table View data type support for Simulink blocks
    DocBlock Create text that documents model and save text with model
    Model Info Display model properties and text in model
    Timed-Based Linearization Generate linear models in base workspace at specific times
    Trigger-Based Linearization Generate linear models in base workspace when triggered

    Ports and Subsystems

    Inport Create input port for subsystem or external input
    Outport Create output port for subsystem or external output
    Subsystem Represent system within another system
    Model Include model as block in another model
    Model Variants Include model as block in another model
    Variant Subsystem Represent a subsystem with multiple subsystems
    Configurable Subsystem Represent any block selected from user-specified library of blocks
    Atomic Subsystem Represent system within another system
    CodeReuse Subsystem Represent system within another system
    Enabled Subsystem Represent subsystem whose execution is enabled by external input
    Triggered Subsystem Represent subsystem whose execution is triggered by external input
    Enabled and Triggered Subsystem Represent subsystem whose execution is enabled and triggered by external input
    If Action Subsystem Represent subsystem whose execution is triggered by If block
    Switch Case Action Subsystem Represent subsystem whose execution is triggered by Switch Case block
    For Iterator Subsystem Represent subsystem that executes repeatedly during simulation time step
    For Each Subsystem Repeatedly perform algorithm on each element or subarray of input signal and concatenate results
    While Iterator Subsystem Represent subsystem that executes repeatedly while condition is satisfied during simulation time step
    Trigger Add trigger port to model or subsystem
    Action Port Implement Action subsystems used in if and switch control flow statements
    Enable Add enabling port to system
    For Each Enable blocks inside For Each Subsystem to process elements or subarrays of input signal independently
    For Iterator Repeatedly execute contents of subsystem at current time step until iteration variable exceeds specified iteration limit
    If Model if-else control flow
    Switch Case Implement C-like switch control flow statement
    While Iterator Repeatedly execute contents of subsystem at current time step while condition is satisfied
    Function-Call Subsystem Represent subsystem that can be invoked as function by another block
    Function-Call Feedback Latch Break feedback loop involving data signals between function-call blocks
    Function-Call Generator Execute function-call subsystem specified number of times at specified rate
    Function-Call Split Provide junction for splitting function-call signal

    Signal Attributes

    Data Type Conversion Convert input signal to specified data type
    Bus to Vector Convert virtual bus to vector
    Data Type Conversion Inherited Convert from one data type to another using inherited data type and scaling
    Data Type Duplicate Force all inputs to same data type
    Data Type Propagation Set data type and scaling of propagated signal based on information from reference signals
    Data Type Scaling Strip Remove scaling and map to built in integer
    IC Set initial value of signal
    Probe Output signal attributes, including width, dimensionality, sample time, and complex signal flag
    Rate Transition Handle transfer of data between blocks operating at different rates
    Signal Conversion Convert signal to new type without altering signal values
    Signal Specification Specify desired dimensions, sample time, data type, numeric type, and other attributes of signal
    Weighted Sample Time Support calculations involving sample time
    Width Output width of input vector

    Signal Routing

    Bus Creator Create signal bus
    Bus Selector Select signals from incoming bus
    Demux Extract and output elements of vector signal
    Mux Combine several input signals into vector
    Switch Switch output between first input and third input based on value of second input
    Bus Assignment Replace specified bus elements
    Data Store Memory Define data store
    Data Store Read Read data from data store
    Data Store Write Write data to data store
    Environment Controller Create branches of block diagram that apply only to simulation or only to code generation
    From Accept input from Goto block
    Goto Pass block input to From blocks
    Goto Tag Visibility Define scope of Goto block tag
    Index Vector Switch output between different inputs based on value of first input
    Manual Switch Switch between two inputs
    Merge Combine multiple signals into single signal
    Multiport Switch Choose between multiple block inputs
    Selector Select input elements from vector, matrix, or multidimensional signal
    Vector Concatenate Concatenate input signals of same data type to create contiguous output signal

    Sinks

    Outport Create output port for subsystem or external output
    Scope Display signals generated during simulation
    Terminator Terminate unconnected output port
    Display Show value of input
    Floating Scope Display signals generated during simulation
    Stop Simulation Stop simulation when input is nonzero
    To File Write data to file
    To Workspace Write data to MATLAB workspace
    XY Graph Display X-Y plot of signals using MATLAB figure window

    Sources

    Constant Generate constant value
    Ground Ground unconnected input port
    Inport Create input port for subsystem or external input
    Sine Wave Generate sine wave, using simulation time as time source
    Band-Limited White Noise Introduce white noise into continuous system
    Chirp Signal Generate sine wave with increasing frequency
    Clock Display and provide simulation time
    Counter Free-Running Count up and overflow back to zero after reaching maximum value for specified number of bits
    Counter Limited Count up and wrap back to zero after outputting specified upper limit
    Digital Clock Output simulation time at specified sampling interval
    Enumerated Constant Generate enumerated constant value
    From File Read data from MAT-file
    From Workspace Read data from workspace
    Pulse Generator Generate square wave pulses at regular intervals
    Ramp Generate constantly increasing or decreasing signal
    Random Number Generate normally distributed random numbers
    Repeating Sequence Generate arbitrarily shaped periodic signal
    Repeating Sequence Interpolated Output discrete-time sequence and repeat, interpolating between data points
    Repeating Sequence Stair Output and repeat discrete time sequence
    Signal Builder Create and generate interchangeable groups of signals whose waveforms are piecewise linear
    Signal Generator Generate various waveforms
    Step Generate step function
    Uniform Random Number Generate uniformly distributed random numbers

    User-Defined Functions

    Fcn Apply specified expression to input
    Interpreted MATLAB Function Apply MATLAB function or expression to input
    Level-2 MATLAB S-Function Use Level-2 MATLAB S-function in model
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    S-Function Include S-function in model
    S-Function Builder Create S-function from C code that you provide

    Additional Math and Discrete

    Fixed-Point State-Space Implement discrete-time state space
    Transfer Fcn Direct Form II Implement Direct Form II realization of transfer function
    Transfer Fcn Direct Form II Time Varying Implement time varying Direct Form II realization of transfer function
    Unit Delay Enabled Delay signal one sample period, if external enable signal is on
    Unit Delay Enabled External IC Delay signal one sample period, if external enable signal is on, with external initial condition
    Unit Delay Enabled Resettable Delay signal one sample period, if external enable signal is on, with external Boolean reset
    Unit Delay Enabled Resettable External IC Delay signal one sample period, if external enable signal is on, with external Boolean reset and initial condition
    Unit Delay External IC Delay signal one sample period, with external initial condition
    Unit Delay Resettable Delay signal one sample period, with external Boolean reset
    Unit Delay Resettable External IC Delay signal one sample period, with external Boolean reset and initial condition
    Unit Delay With Preview Enabled Output signal and signal delayed by one sample period, if external enable signal is on
    Unit Delay With Preview Enabled Resettable Output signal and signal delayed by one sample period, if external enable signal is on, with external reset
    Unit Delay With Preview Enabled Resettable External RV Output signal and signal delayed by one sample period, if external enable signal is on, with external RV reset
    Unit Delay With Preview Resettable Output signal and signal delayed by one sample period, with external reset
    Unit Delay With Preview Resettable External RV Output signal and signal delayed by one sample period, with external RV reset
    Decrement Real World Decrease real world value of signal by one
    Decrement Stored Integer Decrease stored integer value of signal by one
    Decrement Time To Zero Decrease real-world value of signal by sample time, but only to zero
    Decrement To Zero Decrease real-world value of signal by one, but only to zero
    Increment Real World Increase real world value of signal by one
    Increment Stored Integer Increase stored integer value of signal by one

    HDL Coder

    HDL Operations
    HDL FIFO Stores a sequence of input samples in a first in, first out (FIFO) register
    HDL Counter Free-running or count-limited hardware counter
    Dual Port RAM Dual port RAM with two output ports
    Dual Rate Dual Port RAM Dual Port RAM that supports two rates
    Simple Dual Port RAM Dual port RAM with single output port
    Single Port RAM Single port RAM
    Bit Concat Concatenates up to 128 input words into a single output
    Bit Reduce Performs a selected bit reduction operation (AND, OR, or XOR) on all the bits of the input signal, reducing it to a single-bit result.
    Bit Rotate Rotates the input signal left or right by the specified number of bit positions
    Bit Shift Performs a logical or arithmetic shift on the input signal
    Bit Slice Returns a field of consecutive bits from the input signal

    Simulation

    Import Data

    Inport Create input port for subsystem or external input

    Visualize Results

    Scope and Floating Scope Display signals generated during simulation
    XY Graph Display X-Y plot of signals using MATLAB figure window

    Export Runtime Information

    Data Export Basics

    Outport Create output port for subsystem or external output
    To File Write data to file
    To Workspace Write data to MATLAB workspace

    MATLAB Workspace

    Outport Create output port for subsystem or external output
    To Workspace Write data to MATLAB workspace

    Signal Logging

    Outport Create output port for subsystem or external output
    To File Write data to file

    Trimming and Linearization

    Timed-Based Linearization Generate linear models in base workspace at specific times
    Trigger-Based Linearization Generate linear models in base workspace when triggered

    Test and Debug

    Signal Analysis

    Signal Builder Create and generate interchangeable groups of signals whose waveforms are piecewise linear
    Signal Generator Generate various waveforms
    Assertion Check whether signal is zero
    Check Discrete Gradient Check that absolute value of difference between successive samples of discrete signal is less than upper bound
    Check Dynamic Gap Check that gap of possibly varying width occurs in range of signal's amplitudes
    Check Dynamic Lower Bound Check that one signal is always less than another signal
    Check Dynamic Range Check that signal falls inside range of amplitudes that varies from time step to time step
    Check Dynamic Upper Bound Check that one signal is always greater than another signal
    Check Input Resolution Check that input signal has specified resolution
    Check Static Gap Check that gap exists in signal's range of amplitudes
    Check Static Lower Bound Check that signal is greater than (or optionally equal to) static lower bound
    Check Static Range Check that signal falls inside fixed range of amplitudes
    Check Static Upper Bound Check that signal is less than (or optionally equal to) static upper bound

    Component-Based Modeling

    Model Architecture

    Subsystems

    Subsystem Represent system within another system

    Libraries

    Subsystem Represent system within another system
    Unresolved Link Indicate unresolved reference to library block

    Model Reference

    Model Include model as block in another model

    Data Stores

    Data Store Memory Define data store
    Data Store Read Read data from data store
    Data Store Write Write data to data store

    Composite Signals

    Bus Assignment Replace specified bus elements
    Bus Creator Create signal bus
    Bus Selector Select signals from incoming bus
    Bus to Vector Convert virtual bus to vector
    Demux Extract and output elements of vector signal
    Mux Combine several input signals into vector

    Variant Systems

    Variant Subsystem Represent a subsystem with multiple subsystems
    Model Variants Include model as block in another model

    Block Creation

    Block Creation Basics

    Fcn Apply specified expression to input
    Interpreted MATLAB Function Apply MATLAB function or expression to input
    Level-2 MATLAB S-Function Use Level-2 MATLAB S-function in model
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    S-Function Include S-function in model
    S-Function Builder Create S-function from C code that you provide

    Custom MATLAB Algorithms

    MATLAB Algorithm Design

    Language, Function, and Object Support
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    Data Definition
    Data Definition Basics
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    Variable-Size Data
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    Structures
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    Enumerated Data
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB Classes
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    Function Handles
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model
    Function Definition
    MATLAB Function Include MATLAB code in models that generate embeddable C code
    MATLAB System Include System object in model

    MATLAB Algorithm Integration

    MATLAB Function Include MATLAB code in models that generate embeddable C code

    Code Generation

    MATLAB Function Include MATLAB code in models that generate embeddable C code

    Performance

    MATLAB Function Include MATLAB code in models that generate embeddable C code

    Host-Specific Code

    S-Function Basics

    S-Function Include S-function in model
    S-Function Builder Create S-function from C code that you provide

    C/C++ S-Functions

    Create C/C++ S-Functions
    S-Function Include S-function in model
    S-Function Builder Create S-function from C code that you provide

    MATLAB S-Functions

    S-Function Include S-function in model

    Fortran S-Functions

    S-Function Include S-function in model

    System Object Integration

    Implement Blocks with System Objects

    MATLAB System Include System object in model

    Target Hardware

    Arduino Hardware

    Arduino Analog Input Measure voltage of analog input pin
    Arduino Continuous Servo Write Set shaft speed of continuous rotation servo motor
    Arduino Digital Input Get logical value of digital input pin
    Arduino Digital Output Set logical value of digital output pin
    Arduino PWM Generate PWM waveform on analog output pin
    Arduino Serial Receive Get one byte of data from serial port
    Arduino Serial Transmit Send buffered data to serial port
    Arduino Standard Servo Read Get position of standard servo motor shaft in degrees
    Arduino Standard Servo Write Set shaft position of standard servo motor
    Arduino TCP/IP Receive Receive TCP/IP message on wired network
    Arduino TCP/IP Send Send TCP/IP message from server
    Arduino UDP Receive Receive UDP message
    Arduino UDP Send Send UDP message to remote interface
    Arduino WiFi TCP/IP Receive Receive WiFi TCP/IP message on wireless network
    Arduino WiFi TCP/IP Send Send WiFi TCP/IP message from server
    Arduino WiFi UDP Receive Receive WiFi UDP message
    Arduino WiFi UDP Send Send WiFi UDP message to remote interface

    BeagleBoard Hardware

    BeagleBoard ALSA Audio Capture Capture audio from sound card using ALSA
    BeagleBoard ALSA Audio Playback Send audio to sound card for playback using ALSA
    BeagleBoard GPIO Read Read logical value of GPIO pin configured as input
    BeagleBoard GPIO Write Write logical value of GPIO pin configured as output
    BeagleBoard LED Illuminate built-in LED
    BeagleBoard SDL Video Display Display video using SDL
    BeagleBoard UDP Receive Receive UDP packets over IP network
    BeagleBoard UDP Send Send UDP packets over IP network
    BeagleBoard V4L2 Video Capture Capture video from USB camera using V4L2
    BeagleBoard eSpeak Text to Speech Convert text to speech for output on default audio device

    Gumstix Overo Hardware

    Overo ALSA Audio Capture Capture audio from sound card using ALSA
    Overo ALSA Audio Playback Send audio to sound card for playback using ALSA
    Overo GPIO Read Read logical value of GPIO pin configured as input
    Overo GPIO Write Write logical value of GPIO pin configured as output
    Overo LED Illuminate built-in LED
    Overo SDL Video Display Display video using SDL
    Overo UDP Receive Receive UDP packets over IP network
    Overo UDP Send Send UDP packets over IP network
    Overo V4L2 Video Capture Capture video from USB camera using V4L2
    Overo eSpeak Text to Speech Convert text to speech for output on default audio device

    LEGO MINDSTORMS EV3 Hardware

    LEGO MINDSTORMS EV3 Button Detect button press on EV3 brick
    LEGO MINDSTORMS EV3 Color Sensor Detect colors, reflected light, or ambient light
    LEGO MINDSTORMS EV3 Display Display label and integer on EV3 Display
    LEGO MINDSTORMS EV3 Encoder Measure motor rotation in degrees
    LEGO MINDSTORMS EV3 Gyro Sensor Measure rate of rotation
    LEGO MINDSTORMS EV3 Infrared Sensor Receive signals from EV3 Infrared Beacon
    LEGO MINDSTORMS EV3 Motor Control motor power and direction
    LEGO MINDSTORMS EV3 Speaker Play tone from EV3 speaker
    LEGO MINDSTORMS EV3 Status Light Control status light on EV3 brick
    LEGO MINDSTORMS EV3 Touch Sensor Output state of touch sensor
    LEGO MINDSTORMS EV3 Ultrasonic Sensor Measure distance from object in centimeters

    LEGO MINDSTORMS NXT Hardware

    LEGO MINDSTORMS NXT Acceleration Sensor Measure acceleration along three axes
    LEGO MINDSTORMS NXT Battery Measure voltage of battery in NXT brick
    LEGO MINDSTORMS NXT Button Output state of button on NXT brick
    LEGO MINDSTORMS NXT Color Sensor Measure color or light intensity
    LEGO MINDSTORMS NXT Compass Sensor Read magnetic heading of compass sensor
    LEGO MINDSTORMS NXT Encoder Measure encoder rotation from NXT Interactive Servo Motor
    LEGO MINDSTORMS NXT GPS Sensor Measure latitude and longitude, or heading and distance to GPS position
    LEGO MINDSTORMS NXT Gyro Sensor Measure rate of rotation
    LEGO MINDSTORMS NXT IR Receiver Sensor Receive infrared signals from LEGO Power Functions IR Speed Remote Control
    LEGO MINDSTORMS NXT LCD Display number on single line of NXT LCD screen
    LEGO MINDSTORMS NXT Light Sensor Measure light intensity
    LEGO MINDSTORMS NXT Motor Set motor speed and stopping action
    LEGO MINDSTORMS NXT Receive via Bluetooth Connection Receive data from another NXT brick over Bluetooth
    LEGO MINDSTORMS NXT Send via Bluetooth Connection Send data to another NXT brick over Bluetooth
    LEGO MINDSTORMS NXT Sound Sensor Measure sound level
    LEGO MINDSTORMS NXT Speaker Play tones on speaker in NXT brick
    LEGO MINDSTORMS NXT Timer Measure elapsed time from timer in NXT brick
    LEGO MINDSTORMS NXT Touch Sensor Output state of touch sensor
    LEGO MINDSTORMS NXT Ultrasonic Sensor Measure distance from object in centimeters

    PandaBoard Hardware

    PandaBoard ALSA Audio Capture Capture audio from sound card using ALSA
    PandaBoard ALSA Audio Playback Send audio to sound card for playback using ALSA
    PandaBoard GPIO Read Read logical value of GPIO pin configured as input
    PandaBoard GPIO Write Write logical value of GPIO pin configured as output
    PandaBoard LED Illuminate built-in LED
    PandaBoard SDL Video Display Display video using SDL
    PandaBoard UDP Receive Receive UDP packets over IP network
    PandaBoard UDP Send Send UDP packets over IP network
    PandaBoard V4L2 Video Capture Capture video from USB camera using V4L2
    PandaBoard eSpeak Text to Speech Convert text to speech for output on default audio device

    Raspberry Pi Hardware

    Raspberry Pi ALSA Audio Capture Capture audio from sound card using ALSA
    Raspberry Pi ALSA Audio Playback Send audio to sound card for playback using ALSA
    Raspberry Pi GPIO Read Read logical value of GPIO pin configured as input
    Raspberry Pi GPIO Write Write logical value of GPIO pin configured as output
    Raspberry Pi LED Illuminate built-in LED
    Raspberry Pi SDL Video Display Display video using SDL
    Raspberry Pi UDP Receive Receive UDP packets over IP network
    Raspberry Pi UDP Send Send UDP packets over IP network
    Raspberry Pi V4L2 Video Capture Capture video from USB camera using V4L2
    Raspberry Pi eSpeak Text to Speech Convert text to speech for output on default audio device

    Samsung GALAXY Android Devices

    Samsung GALAXY Android Accelerometer Measure linear acceleration along X, Y and Z axes
    Samsung GALAXY Android Ambient Temperature Sensor Measure ambient temperature
    Samsung GALAXY Android Audio Capture Capture audio stream from device audio input
    Samsung GALAXY Android Audio Playback Play back audio stream using device audio output
    Samsung GALAXY Android Camera Record video using front or rear camera
    Samsung GALAXY Android Display Show video on device display
    Samsung GALAXY Android FromApp Receive data from Android app
    Samsung GALAXY Android Gyroscope Measure rotational speed around X, Y, and Z axes
    Samsung GALAXY Android Humidity Sensor Measure relative air humidity
    Samsung GALAXY Android Light Sensor Measure ambient light
    Samsung GALAXY Android Location Sensor Measure GPS latitude and longitude
    Samsung GALAXY Android Pressure Sensor Measure atmospheric pressure
    Samsung GALAXY Android ToApp Send data to Android app
    Samsung GALAXY Android UDP Receive Receive UDP packets
    Samsung GALAXY Android UDP Send Send UDP packets
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