The setup described within this manual consists of one PC and one Robotino. On the PC we run MatLab for data monitoring and hardware in the loop control. Robotino View is used to control Robotino as usual and to generate movements of Robotino which then can be inspected with MatLab.
The most interesting parts on Robotino are the PC104 and Robotino's new I/O board (EA09). The PC104 is connected to Robotino View via Wireless LAN. Robotino View sends motor control commands to the PC104 which then forwards these commands via RS232 to the EA09. The PC104 also sends sensor readings via Wireless LAN to Robotino View. You can implemement complex behaviours depending on Robotinos sensors (distance sensors, camera and so on) in Robotino View.
The EA09 interfaces Robotino's drive motors, the nine distance sensors, the I/O connector, sensors for battery management and more. In normal operation motor speed set-point values are received via RS232 from the PC104. These speed set-points are generated by Robotino View or by your own C/C++, Java or .Net program running either on a remote PC or on Robotino itself.
The new feature of the EA09 is that all aspects of motor control can be inspected from the outside via a direct Ethernet link to the EA09. Readings of the motor encoders or the state of the internal PI controller are transmitted via UDP to a listener (like MatLab) at a rate of 1kHz. Furthermore the internal PI controller can be switched of. By this you are able to send speed control point values via UDP to the EA09 at rates up to 1kHz giving you full control over Robotino's motors.
As the Ethernet interface of the EA09 is also connected by a switch to Robotino's access point you might communicate to the EA09 via Wireless LAN. It depends on the quality of the Wireless connection if hardware in the loop or high speed monitoring is possible without a cable link.