HIL Task Read Example

This example reads from analog channels 0 and 1, and encoder channels 0 and 1, every 0.5 seconds. It stops reading when 20 samples have been read.

A task is created to handle the data collection using quanser.hardware.hil.task_create_reader. Data collection is started using the quanser.hardware.task.start function. The data is then read from the task's internal buffer in half second intervals, one sample at a time, using the quanser.hardware.task.read function.

The example stops after 20 samples have been read. Do not press Ctrl+C.

Warning Do NOT press Ctrl+C to stop the script or the example will not shut down the hardware correctly! Use the quanser.hardware.hil.close_all command in order to shut down the hardware if you have pressed Ctrl+C.

System Requirements

This example requires hardware supported by the HIL command set, such as the Q4 or Q8 hardware-in-the-loop card. Furthermore, the card must support task-based reads from multiple types of channels.

Configuring the example

To set up the example for your data acquisition card, edit the M-file and change the board_type to the type of board being used. If you have more than one of these data acquisition cards in your machine, then also change the board_identifier variable to refer to desire board. Board identifiers are typically equal to the board number, with the first board being board '0', the next board being board '1', etc.

If your board does not support encoder channels, then change the encoder_channels variable to an empty matrix, [].

Running the example

Simply type the name of the example, hil_task_read_example, at the Matlab command prompt to run the example. It prints the current values of the analog inputs and encoder inputs in the MATLAB command window every 0.5 seconds. It is best to have an encoder connected to one or both encoder inputs so that you can see the change in encoder counts as the encoder shaft is rotated. The example stops after reading 20 samples. Do not press Ctrl+C.

Typical output from the example looks like:

This example reads the first two analog input channels and encoder channels
two times a second for 10 seconds.
This example runs for 20 samples. Do not press Ctrl+C.
ADC #0:  0.006   ADC #1:  0.005   ENC #0:  -433     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.005   ENC #0:  -431     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:  -159     ENC #1:     0     
ADC #0:  0.006   ADC #1:  0.005   ENC #0:    20     ENC #1:     0     
ADC #0:  0.006   ADC #1:  0.006   ENC #0:   564     ENC #1:     0     
ADC #0:  0.009   ADC #1:  0.006   ENC #0:   802     ENC #1:     0     
ADC #0:  0.006   ADC #1:  0.006   ENC #0:   941     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:   941     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.005   ENC #0:   727     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:   548     ENC #1:     0     
ADC #0:  0.010   ADC #1:  0.007   ENC #0:   354     ENC #1:     0     
ADC #0:  0.009   ADC #1:  0.006   ENC #0:   143     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.005   ENC #0:   -86     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:  -170     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.005   ENC #0:  -628     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:  -670     ENC #1:     0     
ADC #0:  0.006   ADC #1:  0.005   ENC #0:  -276     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.005   ENC #0:   -27     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:   235     ENC #1:     0     
ADC #0:  0.007   ADC #1:  0.006   ENC #0:   274     ENC #1:     0     
Read operation has been stopped.

Building code from the example

To build real-time code from the example for the QUARC Win64 target, execute the following command in the MATLAB Command Window:

qc_build_script('hil_task_read_example', 'win64');

The command may also be entered in this form:

qc_build_script('hil_task_read_example.rt-win64');

The qc_build_script command generates a build script called 'hil_task_read_example_build.m' and a main C file called 'hil_task_read_example_main.c'. It then invokes the build script to generate C code for the MATLAB script and to compile and link it into a QUARC executable called 'hil_task_read_example.rt-win64'. Running qc_build_script again will not overwrite the generated files, so they may be modified and the changes will be incorporated when qc_build_script is run again.

Running the generated executable

Before running the generated executable, open a QUARC Console so that the output of the executable may be seen. The QUARC Console need only be opened once. Use the command:

qc_script_console('hil_task_read_example.rt-win64', 'all');

The QUARC Console shows the standard output from any QUARC executable that is run on the target (since the 'all' option was specified).

To run the generated executable, type the following command in the MATLAB Command Window:

qc_run_script('hil_task_read_example.rt-win64');

The output from the executable will be seen in the QUARC Console:

QUARC Console output

Building code for a different target

Before building the code for a new target, change the board type to suit the board connected to the new target. In this case, a QUARC Linux Pi 3 target is used, so a Q2-USB (q2_usb) may be used. Since the Q2-USB supports two analog input and two encoder input channels, the channel vectors do not have to be changed.

To build real-time code from the example for the QUARC Linux Pi 3 target, execute the following command in the MATLAB Command Window:

qc_build_script('hil_task_read_example', 'linux_pi_3', 'update');

The command may also be entered in this form:

qc_build_script('hil_task_read_example.rt-linux_pi_3', 'update');

The 'update' option causes the qc_build_script command to update the target type in the build script without rewriting the rest of the script. Hence, even if the script has been modified, the changes will be preserved. Only the target type will be changed. The command will then generate the C code for the MATLAB script and compile and link it for the new target type to produce the executable 'hil_task_read_example.rt-linux_pi_3'.

Running the generated executable on the new target

Before running the generated executable, open a QUARC Console so that the output of the executable may be seen. The QUARC Console for this new target need only be opened once. Use the command:

qc_script_console('hil_task_read_example.rt-linux_pi_3', 'all');

The QUARC Console shows the standard output from any QUARC executable that is run on the target (since the 'all' option was specified). Note that even though the QUARC Console is running on the host PC, it will be showing the standard output from QUARC executables run on the QUARC Linux Pi 3 target!

To run the generated executable, type the following command in the MATLAB Command Window:

qc_run_script('hil_task_read_example.rt-linux_pi_3');

The output from the executable will be seen in the QUARC Console.