Mr. Kick MatLab File - External Devices

This document gives an overview of the MatLab file matrices relevant to external devices - at the present only the Platform when using the PFC-II controller.

For further information as well as corrections and suggestions please send an e-mail to knl.

ExtDevHdr

The ExtDevHdr matrix specifies the information regarding external devices. The first three elements are common to all devices:

ExtDevHdr(1) device ID:

0. None
1. Platform (PFC-II)
2. PFC-III
3. ActiveII
4. MagStimR2

ExtDevHdr(2) number of main classes included in file,
ExtDevHdr(3) number of sub classes included in file.

Platform (PFC-II)

ExtDevHdr (Platform / PFC-II additions)

ExtDevHdr(4): Ankle height in cm,
ExtDevHdr(5): Origo X in cm,
ExtDevHdr(6): Origo Y in cm,
ExtDevHdr(7): Origo Z in cm,
ExtDevHdr(8): Origo α in °,
ExtDevHdr(9): Origo Β in °.

ExtDevCtrl

The ExtDevCtrlMmmSss matrices, where mm and ss represent main- and sub-class respectively, are two-dimensional matrices each holding a trajectory list:

ExtDevCtrlMmmSss(:,n) contains the n^th element of the trajectory list.

A perturbation starts out from Origo, as defined in the ExtDevHdr matrix, and goes through the trajectory list, element by element. A simple perturbation will only have one element in the list. Each element contains the following information:

ExtDevCtrlMmmSss( 1,n): Return delay (-1 in last element),
ExtDevCtrlMmmSss( 2,n): Destination X in cm,
ExtDevCtrlMmmSss( 3,n): Destination Y in cm,
ExtDevCtrlMmmSss( 4,n): Destination Z in cm,
ExtDevCtrlMmmSss( 5,n): Destination α in °,
ExtDevCtrlMmmSss( 6,n): Destination Β in °,
ExtDevCtrlMmmSss( 7,n): Mode - 0: Velocity; 1: Acceleration,

The following parameters are Mode dependant:

ExtDevCtrlMmmSss( 8,n): Par. 1 - velocity mode: Velocity in cm/s; accelleration mode: Accellerationin in cm/s²,

ExtDevCtrlMmmSss( 9,n): Par. 2 - velocity mode: Irrelevant; accelleration mode: Decelleration in cm/s²,

ExtDevCtrlMmmSss(10,n), ExtDevCtrlMmmSss(11,n): Reserved.

Velocities and accelleration/decelleration are specified for "the fastest cylinder"...

PFC-III

N/A yet...