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Arduino Engineering kit final challenge mobile rover 5.9

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mario bergognoni
mario bergognoni 2019-6-12
评论： Mihai Cebotari 2021-6-2
Hi
I'm trying to transmit from Matlab to Simulink a matrix waypoints ( 3x2 double ) over wifi and then start the mobile rover in AEK.
I used to start the code deployed on arduino mkr1000 an enabled subsystem and start fine, but don't follow the waypoints spin around on itself.
From matllab i send a simple test code over wifi sending a vector 1x6 to simulink and I noticed using a serial transmit like feedback that work fine so i don't understand what's wrong.
Not using wifi but embedding the matrix waypoints in simulink the rover work fine
Here test code:
clear;
close all;
clc;
Waypoints=[10 10; 30 40; 10 60];
%Send Waypoints
t = tcpip('192.168.1.10',25000);
t.ByteOrder = 'littleEndian';
fopen(t);
vector=Waypoints(1,:);
for ii=2:(size(Waypoints,1));
vector=[vector,Waypoints(ii,:)]
end
% Sending vector of Waypoints
fwrite(t,vector,'double');
fclose(t);
%Start subsystem
t1 = tcpip('192.168.1.10',25001);
t1.ByteOrder = 'littleEndian';
% Sending Flag for subsystem starting
fopen(t1);
setFlag = 1;
resetFlag = 0;
fwrite(t1,resetFlag,'double');
fwrite(t1,setFlag,'double');
fclose(t1);
Here the Simullink code deployed on the rover
rover.jpg
Thank you for any advice
Mario

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