can anyone help me with the code for the robot in matlab variables instead of substituting the numer

can anyone help me with the code for the robot in matlab

variables instead of substituting the numerical values directly. The required output to the 3D animation subsystem are X Vm and d. The kinematic relationship between the body and the wheel motion are given by Rêcos and m = Rôsino 2.3 [12pts] Create the path function that drives the rover around the obstacle. Double click on the “wheel voltage control” program block and enter the commands to control the rotation of the motors (forward/reverse/off) depending on the state (position x and y and heading angle) of the rover. You need to move the rover around the obstacle and back to the starting point following a path highlighted in Figure 2. The rover can move clockwise or counter clockwise around the obstacle. The room is 90 x 90 units. (Note that to speed up the simulation, you should select 'odel5s (stiff NDF) as the solver under “simulation model configuration parameters solver”). Editor Block rover/wheel voltage control + wheel voltage control function [left, right] fen (xm, ym, phi) constants to use forv-l rev-1 4- run motor forward 5- trun motor in reverse off-0: 6- turn off motor &default ofd left-off left motor is right-off: tright motor is off 10- 11 12 13 For example, the following algorithn makes the rover move forward at a heading of -pi/4 radians 14 15 Assune d-0.1 is some margin 16 17 If (phi>-pi/4+d) then make correction to the right (i.e., left motor-forw, right motor-rev) 18 elseif phiFigure 1: Rover and its simplified model ew t ig e Figure 2: Virtual rover model (green) and obstacle (red) in MATLAB VR environment y У Уm Уг Xm Xr XI Figure 3: Top view of rover model

 

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