Operation manual: Difference between revisions
Jump to navigation
Jump to search
| Line 67: | Line 67: | ||
=== General directions === | === General directions === | ||
# Build the Simulink model using ctrl+b (only necessary when changes are made or when directed to do so by MATLAB) | # Build the Simulink model using ctrl+b (only necessary when changes are made or when directed to do so by MATLAB). Ensure that the working directory of MATLAB is the directory containing the model. | ||
# Ensure the ''motor enable'' power switch is switched on, it must be turned to the right | # Ensure the ''motor enable'' power switch is switched on, it must be turned to the right | ||
# Open a terminal | # Open a terminal | ||
| Line 74: | Line 74: | ||
'''Hold your hand stand by at the ''motor enable'' power switch, so you can use it as an emergency switch''' | '''Hold your hand stand by at the ''motor enable'' power switch, so you can use it as an emergency switch''' | ||
=== Grt specific === | === Grt specific === | ||
* When running <tt>./modelname</tt> in a terminal, add <tt>-w</tt> to start simulation from Simulink. | * When running <tt>./modelname</tt> in a terminal, add <tt>-w</tt> to start simulation from Simulink. | ||
* When running <tt>./modelname</tt> in a terminal, add <tt>-tf inf</tt> to discard the simulation end time and run the simulation forever. | * When running <tt>./modelname</tt> in a terminal, add <tt>-tf inf</tt> to discard the simulation end time and run the simulation forever. | ||
Revision as of 12:48, 26 October 2011
Back to: PITON steerable needle
All models and source code can be found in /home/PITON/.
Start Ubuntu
- Switch on the setup with the power button on the power socket
- Start the computer
- Choose the default Linux Kernel
- Log in as PITONuser with password PIT2011
Start MATLAB
- Open a terminal.
- Type sudo matlab with password PIT2011
Simulink models
Targets
Two different targets are used in the following models.
Generic Realtime Target (grt)
- Target is not Realtime, although its name suggests otherwise
- Cannot be used to control the ethercat stack
- All blocks within a scheme run at the same rate
- Can be used with external mode
Multi Threaded Target (mtt)
- Target is Realtime
- Can be used to control the ethercat stack
- Parts of the scheme can run at 1/n times the basic rate, n must be an integer
- Cannot be used with external mode
Models
camCalibrate.mdl - can be used to position the camera with respect to the needle and to determine appropriate settings.
- Run it with external mode to view the camera images.
- The red container marks the Region Of Interest (ROI).
- Position the camera and shape the ROI such that the all markers stay within the ROI during the experiments.
PITONlib.mdl - contains library blocks. This model is not meant to be run as is, it is just a container for the blocks.
- vision
- motor
- data storage
PITONtmpl.mdl - a template to use as a starting point for custom experiments
- uses the MTT target
- vision running at 25Hz
- motion running at 1000Hz
PITONexp1.mdl - an example experiment
Running an experiment
General directions
- Build the Simulink model using ctrl+b (only necessary when changes are made or when directed to do so by MATLAB). Ensure that the working directory of MATLAB is the directory containing the model.
- Ensure the motor enable power switch is switched on, it must be turned to the right
- Open a terminal
- Enable super user privileges by typing sudo su and using password PIT2011
- Run ./modelname in the terminal
Hold your hand stand by at the motor enable power switch, so you can use it as an emergency switch
Grt specific
- When running ./modelname in a terminal, add -w to start simulation from Simulink.
- When running ./modelname in a terminal, add -tf inf to discard the simulation end time and run the simulation forever.