Operation manual: Difference between revisions
Jump to navigation
Jump to search
| Line 18: | Line 18: | ||
=== Targets === | === Targets === | ||
Two targets are used in the following models. | Two different targets are used in the following models. | ||
'''Generic Realtime Target''' (grt) | '''Generic Realtime Target''' (grt) | ||
* Target is not Realtime, although its name suggests otherwise | * Target is not Realtime, although its name suggests otherwise | ||
| Line 24: | Line 26: | ||
* All blocks within a scheme run at the same rate | * All blocks within a scheme run at the same rate | ||
* Can be used with external mode | * Can be used with external mode | ||
'''Multi Threaded Target''' (mtt) | '''Multi Threaded Target''' (mtt) | ||
| Line 30: | Line 33: | ||
* Parts of the scheme can run at 1/''n'' times the basic rate, ''n'' must be an integer | * Parts of the scheme can run at 1/''n'' times the basic rate, ''n'' must be an integer | ||
* Cannot be used with external mode | * Cannot be used with external mode | ||
=== Models === | === Models === | ||
Revision as of 14:33, 25 October 2011
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
PITONlib.mdl - contains library blocks
- vision
- motor
- data storage
PITONtmpl.mdl - a template to use as a starting point for custom experiments
- uses the MTT target, it is not possible to use Simulink's external mode with the MTT target
- vision running at 25Hz
- motion running at 1000Hz
PITONexp1.mdl - an example experiment
Running an experiment
- Build the Simulink model using ctrl+b
- Ensure the motor power is switched on, the power switch 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