Unfortunately Windows OS is not good enough for real-time operation, so Simulink provides a way to improve this using Simulink Coder (formerly know as Real Time Workshop). This files enable the use of a EPOS2 motor controller connected to a Linux machine, such as a Raspberry PI, for obtaining a better performance in simulation when compared with Windows OS.
Example of how to use this files
1. Download and install EPOS2 libraries in Raspberry PI. Copy *.so in /usr/lib, and replace *.h in /usr/include. Replace the original "Definitions.h" file with the one included in the zip.
Example of this step in linux:
sudo mv libEposCmd.so.18.104.22.168 /usr/lib/libEposCmd.so
sudo mv libftd2xx.so.1.2.8 /usr/lib/libftd2xx.so
Copy the file "Definitions.h" to your SSD in Raspberry PI and use the following command
sudo mv ./Definitions.h /usr/include
2. Extract the files in an empty directory in a windows computer.
3. Open the example model "test_MAXON_linux.slx" and modify it according to your node ID and required EPOS2 mode. There are only three supported modes: position, velocity and current.
4. Go to model options and change the values in pane "Run On Target Hardware", use your IP, user and password.
5. Compile model in external mode and check for output.
Eugenio (2022). EPOS2 Support for Simulink Coder in Linux and Raspberry PI (https://www.mathworks.com/matlabcentral/fileexchange/60218-epos2-support-for-simulink-coder-in-linux-and-raspberry-pi), MATLAB Central File Exchange. 검색됨 .
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