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Quanser Qbot: User Manual
Block
Table 4: Description of the Relevant HIL Blocks for the Qbot in QUARC
At this point, the model is ready to be compiled and executed on the target.
Initialization block required in all QUARC models using a HIL card.
Note: only one HIL Initialize block is needed in the model to setup one
vehicle. The HIL Read Write block must reference this block to determine
the board being used.
The current version of the Qbot DAC can read from analog channels (for the
infrared sensors), and sonar channels. PWM channels are supported for
write operations.
Channel
Valid Channel
Type
Ranges
IR Input
[0:4]
(Analog
Read)
Analog In-
[0:6]
put
(Read)
Sonar Input
[1:3]
(Other
Read)
PWM
[0:7]
(Write)
Document Number: 830 Revision: 7 Page: 16
Description
Description
Reads infrared sensor measurements
Reads sonar sensor measurements
Gives duty cycle commands as a percent-
age (0 to 1) of a 20ms period, where val-
ues range from 0.025 to 0.125.
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