Quanser QBall 2, Настройка и конфигурация

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Figure 6.9: Pinging the QBall 2
6.4 Configuring models for the QBall 2 target
Note: this section applies only to files that are run on the Gumstix target (i.e., on the QBall 2) such as
qball_2_control_v1.mdl (see Table 6.7 in Section 6.6). Simulink
r
should have a new menu item called QUARC
r
once QUARC
r
has been installed. The following steps are required to setup a new QUARC
r
model for the QBall
2:
1. Create a new Simulink
r
model, or open an existing model to be run on the Gumstix.
2. Click on the QUARC menu, then select
Options
.
3. The
System target file
under Code Generation should be
quarc_linux_duovero.tlc
. Browse through the
system target list to locate the proper file if necessary (Figure 6.10).
Figure 6.10: QUARC
r
Option Menu
4. In order to run the QUARC
r
model on the target vehicle, the target's IP address must be specified. To setup
the default target address for all linux-duovero targets , go to the QUARC menu and select
Preferences
. The
Target type parameter should be set to linux_duovero . Replace the Default Model URI with the IP address
of the desired target vehicle, e.g., tcpip://192.168.2.20:17001 .
Alternatively, to set the target address for the current model only open the model options under the QUARC |
Options menu and choose Code Generation >
Interface
on the left hand pane. Under the MEX-file arguments,
type
'-w -d /tmp -uri %u', 'tcpip://
{
IP of Gumstix
}
:17001'
. Include the single quotation marks
(Figure 6.11). Replace
{
IP of Gumstix
}
with the IP of your Gumstix, e.g.
'tcpip://192.168.2.20:17001'
.
QBALL 2 - User Manual
DRAFT - April 6, 2015