This document discusses hardware co-simulation of BPSK and QPSK modulation schemes. It begins with an introduction to digital modulation techniques, specifically phase shift keying. It then provides details on implementing BPSK and QPSK modulation in MATLAB Simulink and System Generator. The BPSK and QPSK modulators are modeled in VHDL and hardware co-simulation is performed. Waveforms are verified between MATLAB and FPGA simulation tools. The document concludes the BPSK and QPSK modulators provide efficient and robust techniques for software defined radio applications.