QUARC 2021 SP1
These release notes describe the new features and changes introduced in QUARC 2021 SP1. They are divided into the sections enumerated below.
New Software Compatibility
QUARC 2021 SP1 has introduced compatibility with the following third-party software.
Compatibility with MATLAB, Simulink, and Simulink Coder R2021b has been added.
New Targets
QUARC 2021 SP1 now supports the following new targets.
The QUARC Raspberry Pi 4 Target supports one of the newest Quanser embedded Linux targets. Refer to QUARC Linux Raspberry Pi 4 Target for details.
New Devices Supported
QUARC 2021 SP1 may now interface to the devices listed below.
Support for the KUKA KR C4 robot controller (coupled with any compatible KUKA 6-DOF robot) has been added to the KUKA RSI block. In addition, support for Fast mode RSI, i.e., with the 4 ms update period, was also added to the KUKA RSI block.
New Demonstrations
The examples added in QUARC 2021 SP1 are listed below.
MATLAB HIL Examples
The hil_speed_control_example illustrates the use of the HIL API for MATLAB to perform proportional-integral (PI) speed control of a QUBE-Servo 2-USB experiment.
New Blocks
New blocks have been added to the QUARC Targets library in QUARC 2021 SP1. The new blocks are listed below.
Advanced Blocks
The Atomic Transition block performs a rate transition between arbitrary rates that guarantees data integrity.
New Functions
New MATLAB functions have been added to the QUARC MATLAB functions in QUARC 2021 SP1. The new functions are listed below.
quanser.hardware functions
The new quanser.hardware.task.set_buffer_overflow_mode method for quanser.hardware.task class sets the buffer overflow mode for a task.
Improved Features
Some of the features improved in QUARC 2021 SP1 are enumerated below. There are a great many miscellaneous improvements that have not been listed. Only some of the highlights are listed below.
The qc_build_script command has been enhanced to support scalar and vector input arguments to the script. These arguments may then be passed on the command-line to the qc_run_script command.
The Demultiplexer block has been enhanced to support either holding the values of unselected outputs or resetting them to zero or the value of an input port.
All HIL functions/blocks will now check for NaN being written to the DAQ and will return an error if it is encountered.
The LCD Display block has been enhanced to support displaying image for graphical LCD displays. It also supports "dark mode" i.e., use white text on black background for displays that support it.
The Model Argument block now allows the default value for the argument to be specified.
Miscellaneous
The following shows the miscellaneous changes in QUARC 2021 SP1.
Auto FTDI driver updates via the Microsoft Windows Update will no longer affect the Q2-USB and Q8-USB performance.
Bug Fixes
Some of the bug fixes in QUARC 2021 SP1 are enumerated below. This list is not complete. Only some of the highlights are listed below.
Attempting to use the digital output watchdog expiration states caused the HIL Proxy Server to drop the connection. This issue has been resolved.
Fixed the issue where C++ shared library linker options were not set properly.
The PGR Grab Image block had a bug in its mask causing an error when switching video modes. This issue has been resolved.
The Replace Elements block was missing its MEX function. This unfortunate omission has now been fixed.
The Audio Play block had a bug where code generation might have failed. This issue has been fixed.
Fixed a bug where the depth image for D415 on QBot 2e was not displaying properly.
Fixed a bug where the Force Torque Sensor block might have crashed MATLAB.
Fixed a bug where the Video3D Simulation might have crashed MATLAB.
Fixed a bug where models using FTDI-based devices (e.g. Hexapod2-USB, Q2-USB, Q8-USB, QUBE-SERVO-USB) cannot start on Windows targets.
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