Operation manual

Start Ubuntu

1. Switch on the setup with the power button on the power socket
2. Start the computer
3. Choose the default Linux Kernel
4. Log in as PITONuser with password PIT2011

Start MATLAB

1. Open a terminal.
2. 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

1. Build the Simulink model using ctrl+b
2. Ensure the motor power is switched on, the power switch must be turned to the right
3. Open a terminal
4. Enable super user privileges by typing sudo su and using password PIT2011
5. Run ./modelname in the terminal