Pulnix TMC-7DSP Instrukcja Użytkownika Pobierz pdf (Strona 13)

Kuva 1 Subsystem 'selected input signal' from 'Model.mdl'

Math-file ‘ILCprocess.m’

To test and demonstrate the working of the system I created a math-file ‘ILCprocess.m’. Besides of

testing the system for this project, it can be used as a basis for further development of the system. I

created the file so that it reminds the ILC process. I also added some (possible) function calls that

could be used in ILC process. They are commented away, because I never implemented those

functions. They are there just to give ideas for future developers of the system.

‘ILCprocess.m’ draws iteratively a sine wave on the wall with the laser pointer attached to Gimbal

with three different starting points. The iteration process is “dumb” and there is no intelligence in

changing the starting point of the curve. Intelligence can be added by creating and using functions

that defines new starting points using the data saved from the camera.

The image acquisition program is used to save the path drawn by the laser. It is saved to RGB

picture called ‘pathImage’. It can be used for finding the errors between the desired and the actual

curve.

WinCon commands are used to build and start/stop the process automatically when needed. These

commands let us control the WinCon server straight from the math-file, without needing to handle it

manually.

‘ILCprocess.m’ can be found from Appendix III.

Figure 7 One image saved by 'ILCprocess.m'

Using Gimbal and ‘ILCprocess.m’

All the files needed to run ILCprocess can be found in the cd from folder

F:/Gimbal OR

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Pulnix TMC-7DSP Instrukcja Użytkownika Strona 13