QUARC Table of Contents

Table of Contents

QUARC

Getting Started with QUARC

System Requirements
Configuring QUARC

Setting Up QUARC
License Configuration
Setting the Default Target Type

Migrating From WinCon

How the QUARC Architecture Differs from WinCon's
It's a Whole Different World - Using QUARC Versus WinCon

Building Models for Real-Time - More Choices
Running Models - Similar but Different
Changing Parameters - Why Change a Good Thing?
Plotting Signals - Tighter Integration Than Ever Before
Streaming Data to Disk - More Flexibility At Last!
Accessing Hardware - A Whole New Paradigm
Communications - It's Completely Different!
Control Panels - New Interfaces

Where Did Those Blocks Go? - Migrating WinCon Blocks to QUARC

Quanser Toolbox (qctools)

Data Acquisition Cards
Extra Sources
Extra Sinks
Transformations
CRS Robots
Quanser Haptics
Devices

Quanser Communications Toolbox (qccomm)
WinCon Toolbox (wctools)

Upgrading QUARC
User's Guide

QUARC Basics

Basic Procedures

Configuring a Model
Building a Model
Real-Time Mode vs. Normal Simulation
Connecting to a Model's Real-Time Code
Starting a Model
Stopping a Model
Disconnecting from a Model's Real-Time Code
Downloading a Model's Real-Time Code

Data Collection

Streaming to the MATLAB Workspace

Using the Scope Parameters Dialog
Using the "To Workspace" Block
Using the Data Import/Export Pane

Streaming to Disk

Data Archiving
Using the "To Host File" Block
Model Logging
Using the "To File" Block
MAT-File Logging

Signal Triggering

Signal and Triggering Dialog
Configuring the Trigger Event
Arming/Disarming the Trigger Signal

QUARC Figures

Time Figure
XY Figure
Display Image

Using the Floating Scope

Parameter Tuning
Managing Models on the Target
Controlling the Execution Order

Using the Atomic Subsystem Block
Block Prioritization

Using Windows Explorer to Manage Models
Command Line Tools
QUARC Console - Model Standard I/O
QUARC Monitor - the Tray Icon
Accessing Hardware
Communications

Basic Communications
Intermediate Communications
Advanced Communications

Advanced Communications - Blocking Mode
Advanced Communications - Non-Blocking Mode

Using Bus Objects with QUARC

Using Devices

Standard Axes
Cameras
Devices on the Host PC
Fieldbus
Haptics
Human Interface Devices
Robots

CRS A465
CRS Catalyst-5
Mitsubishi PA10
Schunk Gripper

Vehicles

Multithreading

Multithreading of a Multi-Rate Model
Asynchronous Threads

Multiprocessing

Bound Multiprocessing (BMP)

Partition Scheduling

Adaptive Partitioning

Dynamic Reconfiguration

Creating Models to Support Dynamic Reconfiguration
Simulating Dynamic Reconfiguration
Dynamic Reconfiguration Using the MATLAB Command Window
Dynamic Reconfiguration Using a Supervisory Model

QUARC External Interfaces
Debugging a Model
Achieving Optimal Performance
Creating User Interfaces

Creating MATLAB GUIs
Creating Altia GUIs

Installation Requirements - Configuring Altia to work with QUARC
Where to Begin - Creating an Altia GUI from Simulink
Getting Values - Knobs and other inputs
Setting Values - Meters and other outputs
Plotting - the Quanser Plot library for Altia
Controlling Models - Starting and stopping models from Altia
Deployment - Running your GUI

Creating Visualizations

Creating Your First Visualization Part I
Creating Your First Visualization Part II
Creating Your First Visualization Part III
Creating Your First Visualization Part IV
Creating Your First Visualization Part V
Composing Your Own Transformation Matrix
Creating Your Own Content

3ds Max X3D Plugin

Exporting from 3ds Max
Mesh Construction Considerations

Blender X3D Plugin

Exporting from Blender
Mesh Construction Considerations

Creating Skyboxes

Shadows

The Flattened Mesh
The Bitmap Shadow
Texture Baking

Animate Dialog
3D Viewer

The 3D Viewer Window
Command Line Interface

Establishing Remote Connections

Setting Up TCP/IP
Determining Your Server IP Address or Name
Connecting From a Remote Machine

Anatomy of a Scene File

The Basic Structure
The Scene Parameters
The Mesh Pool
The Texture Pool
The Object Pool
The Actor Pool

QUARC Targets

Selecting a Target

Using the Configuration Parameters Dialog to Select a Target
Using Model Explorer to Select a Target
Defining Multiple Configurations
Activating a Configuration

Communicating with the Target

Using Default URIs
Specifying the Model and/or Target URI

Specific Targets

QUARC Windows Target
QUARC Win64 Target
QUARC QNX Target
QUARC Linux Overo Target
QUARC Linux Verdex Target

Configuration Parameters

Code Generation Pane - General
Code Generation Pane - Interface
Code Generation Pane - QUARC

QUARC Communications Protocols

Universal Resource Identifiers
Com2002x (ARCNET) Protocol
File Protocol
Mailslot Protocol
Pipe Protocol
Serial Protocol
Shared Memory Protocol
SPI Protocol
SPI-QPID Protocol
SPI-QPIDe Protocol
TCP/IP Protocol
UDP Protocol

QUARC Data Acquisition Card Support

Quanser Cards

HiQ Aero
MultiQ-PCI
Null Device
Q2-USB
Q3 ControlPaQ-FW
Q4
Q8
Q8-USB
QPID
QPIDe
QUBE USB

Gumstix Cards

Robostix
Verdex

National Instruments Cards

DAQmx Overview
DAQCards

DAQCard-6024e
DAQCard-6062e
DAQCard-6715

PCI Cards

PCI Express Cards

PCIe-6251
PCIe-6259
PCIe-6321
PCIe-6341
PCIe-6351
PCIe-6353

USB Cards

USB-6211
USB-6215
USB-6251

Sensoray Cards

Model 626

QUARC MATLAB Functions

Functions - By Category

What Each Function Reference Page Contains
Function Categories

Configuration and Verification

QUARC Configuration
Model Configuration
Upgrading Blocks
Verification

Target Interaction and Simulation

Model
Target

Error Handling
Input Devices

Keyboard

Miscellaneous
Hardware

Configuration
Validation
Properties
Immediate
Buffered I/O
Task-based
Watchdog

Streams

Configuration
Input
Output

User Interface

Functions - Alphabetical List

QUARC Menu
QUARC Preferences Dialog

Default Model URI
Default Target URI
Default Target Type
Automatic Model Logging
Build Options
Restoring the Factory Defaults

Quanser Error Codes

Blocks

Blocks - By Category

What Each Block Reference Page Contains
Block Categories

Advanced

Asynchronous
Dynamic Reconfiguration
Timing

Communications

Basic
Intermediate
Advanced
NEES

Data Acquisition

Generic

Configuration
Immediate I/O
Buffered I/O
Timebases
Watchdog

Devices

Quanser

Haptics

Pantographs

Haptic 3-DOF Planar Pantograph
Haptic 5-DOF Wand

Virtual Plants

Third-Party

CRS

Robots

A465
Catalyst-5

Denso

Robots

Denso VP6242F

iRobot

Roomba

Applications
Interfacing

KUKA

Robots

KUKA RSI

Mitsubishi

Robots

PA-10

Natural Point

OptiTrack

OptiTrack Point Cloud
OptiTrack Trackables

Nintendo

Controllers

Wiimote
Host Wiimote

NMEA

GPS

GPS NMEA

Novint

Falcon

PhoeniX Technologies Incorporated

PTI Visualeyez

Point Grey Research

Cameras

PGR Grab Image

Schunk

Grippers

Schunk Gripper Control

Sensable

Phantom

Sparkfun Electronics

Accelerometers

SerAccel

Ublox

GPS

Ublox Access Data
Ublox Data Accuracy
Ublox Get Lat-Lon-Alt
Ublox Get Speed
Ublox Get XYZ
Ublox Initialize

Vicon

Vicon Blocks

vicon

Peripherals

Host

Force Feedback Game Controllers

Configuration
Constant Force Effects
Ramp Force Effects
Periodic Force Effects
Condition Force Effects

Target

Discontinuities
Discrete
Fieldbus

EtherCAT

Image Processing

Generic

Logic Operations
Logos
Math Operations

Homogeneous Transformations
Vector Transformations

Sinks

Figures
To Host
Error Handling

Sources

Signals
Sigmoids
Time
Status

Strings
User Interface

Altia
Quanser Visualization
Standard I/O

Vehicles

Configuration
Basic

Blocks - Alphabetical List

Release Notes

Version 2.3
Version 2.2
Version 2.1
Version 2.0
Version 1.3
Version 1.2
Version 1.1

Demos
Web Resources