Dear All
I have problem of reading the encoder input signal via pdcom.
I was able to run pdcom example code on my machine. The output are as
following:
(Note: I add few codes to print out all the obtained variables.). The
Simulink model is also attached.
Connecting to 192.168.0.105:2345...
Connected.
<2> MSR Protocol handler recognises the protocol.
<2> Waiting for <connected> tag.
<2> Autodetected MSR Protocol.
<2> <connected> tag arrived.
clientInteraction()
Username=meka
Hostname=meka-mist
Application=pdcom example
<2> Logging in as "m...@meka-mist"
<2> Requesting parameter list.
<2> Message from process at 1290633249.891519: (0) Adminmode filp: 5
<2> Found 10 parameters.
<2> Requesting channel list.
<2> Found 17 channels.
<2> Protocol initialisation finished.
/single_motor_pos/Data Type Conversion
/single_motor_pos/Derivative
/single_motor_pos/Gain
/single_motor_pos/Gain1
/single_motor_pos/Gain2
/Taskinfo/Abtastfrequenz
/single_motor_pos/Gain/Gain
/single_motor_pos/Gain1/Gain
/single_motor_pos/Gain2/Gain
/single_motor_pos/Gear/Gain
/single_motor_pos/Integrator/InitialCondition
/single_motor_pos/Saturation/UpperLimit
/single_motor_pos/Saturation/LowerLimit
/single_motor_pos/Signal Generator/Amplitude
/single_motor_pos/Signal Generator/Frequency
/single_motor_pos/Gear
/single_motor_pos/Integrator
/single_motor_pos/Saturation
/single_motor_pos/ENC_0
/single_motor_pos/Signal Generator
/single_motor_pos/Add
/single_motor_pos/Sum
/Time
/Taskinfo/0/TaskTime
/Taskinfo/0/ExecTime
/Taskinfo/0/Period
/Taskinfo/0/Overrun
notify(): /single_motor_pos/Integrator 0
notify():/single_motor_pos/Integrator 0
Finished.
It seems like Pdcom could only recognize parameters such as
constant/value or gain/gain in Simulink model but not signal.
Can anyone tell me how to get access to the signals? In the end, thanks
for everyone of you effort. So I can make etherlab + pdcom run on my
computer quickly. I also attached my system setting here FYI.
linux: 2.6.32.11
rtai:3.8.1
etherlab: 1.3-pre
matlab: 7.4.0.336
realtime workshop: 6.6
Look forward to your answer!
Jayson
--
------------------------------------------------------
Jayson(Jienan) Ding, Research Engineer
Meka Robotics LLC.
Address:
1240 Pennsylvania Ave,
San Francisco, CA, 94107
Tel: 415-206-0131
Fax: 415.206.0247
Web:
http://www.mekabot.com/
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Name "Sum"
Ports [2, 1]
Position [220, 95, 240, 115]
ShowName off
IconShape "round"
Inputs "|+-"
CollapseMode "All dimensions"
InputSameDT off
OutDataTypeMode "Inherit via internal rule"
SaturateOnIntegerOverflow off
Port {
PortNumber 1
Name "test_sig"
RTWStorageClass "Auto"
DataLoggingNameMode "SignalName"
}
}
Line {
Name "test_sig"
Labels [0, 0]
SrcBlock "Sum"
SrcPort 1
Points [25, 0]
Branch {
Points [0, 0]
Branch {
DstBlock "Gain1"
DstPort 1
}
Branch {
Points [0, 65]
DstBlock "Gain2"
DstPort 1
}
}
Branch {
Labels [2, 0]
Points [0, -65]
DstBlock "Gain"
DstPort 1
}
}
Line {
Labels [0, 0]
SrcBlock "Gear"
SrcPort 1
DstBlock "Sum"
DstPort 2
}
Line {
SrcBlock "Gain"
SrcPort 1
Points [50, 0; 0, 55]
DstBlock "Add"
DstPort 1
}
Line {
SrcBlock "Integrator"
SrcPort 1
DstBlock "Add"
DstPort 2
}
Line {
SrcBlock "Derivative"
SrcPort 1
Points [10, 0; 0, -55]
DstBlock "Add"
DstPort 3
}
Line {
SrcBlock "Add"
SrcPort 1
DstBlock "Saturation"
DstPort 1
}
Line {
SrcBlock "Gain1"
SrcPort 1
DstBlock "Integrator"
DstPort 1
}
Line {
SrcBlock "Gain2"
SrcPort 1
DstBlock "Derivative"
DstPort 1
}
Line {
SrcBlock "Saturation"
SrcPort 1
DstBlock "AOUT_0"
DstPort 2
}
Line {
SrcBlock "ENC_0"
SrcPort 1
DstBlock "Data Type Conversion"
DstPort 1
}
Line {
SrcBlock "Signal\nGenerator"
SrcPort 1
DstBlock "Sum"
DstPort 1
}
Line {
SrcBlock "Data Type Conversion"
SrcPort 1
DstBlock "Gear"
DstPort 1
}
Annotation {
Name "angle[rad]"
Position [228, 216]
}
}
}
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