The Enhancement of a Multi-Terrain Mechatron for Autonomous Outdoor Applications
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standalone license. The only practical problem this causes is that the user cannot start
a MATLAB session through Remote Desktop software.
A workaround has been used which places MATLAB in the Windows Start Up
directory, thus initializing the program at boot-up. Upon logging onto the system from
the remote computer, MATLAB is available for immediate use. The major problem
still remaining is a restart of MATLAB in the case of a program crash. If MATLAB
stops responding and needs to close, the only way to reopen it from the laptop is to
perform a restart. This is sometimes not necessary during in-house development as
connection of external mouse, keyboards and monitors are possible to locally restart
MATLAB.
5.3 DAQ CARD INTERFACE
A suitable interface between the NI-PCI6229 DAQ card and the MATLAB control
environment is required to acquire sensor data for processing and for control of the
motor driver system.
5.3.1 DAQ Toolbox
The only direct support for DAQ cards within MATLAB is through the Data
Acquisition Toolbox. The DAQ toolbox is a collection of m-file functions and MEX-
file dynamic link libraries (DLLs) that allow communication with some common
DAQ hardware vendors including National Instruments.
The DAQ toolbox provides a useful framework for collecting measurement data for
manipulation in the MATLAB environment. Functions include analogue input (AI),
analogue output (AO) and digital input/output (DIO) however, more complex
functions such as timers and counters are not supported. These functions are
important for robot software such as measuring encoder pulses therefore the DAQ
toolbox cannot be used.
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