Amazing Ball Control System: An application with the FLEX FULL Motion board and the Scilab/Scicos code generator

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Amazing Ball Control Application

AMAZING BALL: An example of PID control and USB-UDP communication with the FLEX Motion Daughter Board

Step 1:
  • Open Scilab 4.1.2, the Scicos-FLEX pack is recognized by Scilab (refer Fig. 1).
Change the working directory to “C:\Programmi\scilab-4.1.2\contrib\dspic”.
Type exec builder.sce to build any application of the pack.
Figure 1 – Scilab
Step 2:
  • Open file “pid_ctrl_codegen_usbudp_tuning_square_circle.cos” (refer Fig. 2) in
The .cos file contains the schematic for the generation (with SCICOS) of the FLEX
FULL board program.
This application is for tuning coefficients of the PID control for improving
system performance.
Flexside schematic.png
Figure 2 – Control system schematic
Step 3:
  • Click menu CodeGen and select FlexCodeGen.
Click on the super-block, the Embedded Code Generator's block property settings
window will appear (refer Fig. 3)
Provide path name and then press OK for code generation (refer Fig. 4)
Generator window.png
Figure 3 – Embedded Code Generator window
Generator results.png
Figure 4 – Code Generator results
Step 4:
  • Open MPLAB IDE and import “pic30.cof” file created by the code generator in Step 3.
Connect the FLEX003 (FLEX Full Base Board) to ICD for programming the dsPic
(refer Fig. 5). The board is programmed and set in reset mode.
Cof ide1.pngCof ide2.png
Figure 5 - MPLAB IDE: COF file importing and target programming
Step 5:
  • Check the USB device recognition in the peripherals window (refer Fig. 6) and
execute the program app_flex_scicos.exe (refer Fig. 7)
Note1: The program needs CygWin Win32 usb library and is compiled using make
Note2: Download the FLEX USB drivers for Windows and the PIC18 firmware at:
FLEX usb data communication using Scilab and Scicos
Usb recognition.png
Figure 6 – Check the USB device recognition
Compilation gateway.png
Figure 7 – Compilation and start of the program
Step 6:
  • Open the PC-side file “pc_pid_tuning.cos” in Scicos;
The .cos file contains the schematic for the PC-side (refer Fig. 8).
The almost-real-time simulation runs in SCICOS environment. The application
shows the received USB data on the multiple scope and sends other data to the
FLEX FULL board (refer Fig. 9).
Pcside schematic.png
Figure 8 – PC-side schematic
Pc side tuner.png
Figure 9 – PC-side application (PID tuner)
Step 7:
  • Release the reset to run the demo (refer Fig.10);
Initially the application calibrates the touch screen (refer Fig. 11), followed
by rest of the demo (refer Fig.12).
Released reset.png
Figure 10 - MPLAB IDE: Target released from reset
Figure 11 – Touch panel calibration
Ctrl results.png
Figure 12 – Control result
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