Simulink¶

Python binding for the Matlab simulink XPC API.

Tested with the Speedgoat box.

Installation¶

login to windows machine
install python (preferably python >= 3.6, although it should work with 2.7)
clone this repository (http://gitlab.esrf.fr/bliss/simulink)
on a the command line, go to the source directory and type: pip install -e .

Run¶

After installation, run it with:

$ speedgoat-server 192.168.7.1
Serving XPC speedgoat on tcp://0.0.0.0:8200 ...

(replace the IP with your speedgoat box host/IP)

Tests¶

To run tests you must first load the tests/BCU_tests.slx simulink model using Matlab simulink.

Then, since speedgoat only accepts one connection, make sure that: - you disconnect matlab simulink from the speedgoat and - no speedgoat-server is running

Run tests with:

$ python setup.py test --speedgoat=192.168.7.1:22222

Speedgoat motor controller¶

This chapter explains how to configure a Speedgoat motor controller.

Features¶

Encoder	Shutter	Trajectories	Linked axes
NO	NO	NO	NO

Configuration¶

First, you need a simulink bliss object (see Simulink configuration chapter). Here we assume a simulink object called goat1:

plugin: emotion
package: bliss.controllers.motors.speedgoat
class: SpeedgoatMotor
speedgoat: $goat1
axes:
  - name: fjpur
    velocity: 1.0
    acceleration: 10
    steps_per_unit: 1000
    unit: um