Figure 3.5: QBot 2 IP address label
3.3 Configuring models for the QBot 2 target
Note:
This section applies only to files that are run on the Gumstix target (i.e., on the QBot 2) such as
qbot_2_control_v1.mdl
.
Simulink
r
should have a new menu item called
QUARC
once
QUARC
r
has been installed. The following steps are
required to setup a new
QUARC
r
model for the QBot 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 3.6).
Figure 3.6:
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 3.7). Replace
{
IP of Gumstix
}
with the IP of your Gumstix, e.g.
'tcpip://192.168.2.20:17001'
.
QBOT 2 - User Manual
DRAFT - April 14, 2015
