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

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 (Multi Threaded) 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