# Real-Time Robotics Framework

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getting_started:tutorials:hal1

# Using the HAL with comedi or flink

In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run examples/hal/halTest2. The system uses real hardware inputs and output. The hardware could be comedi or flink. You also need to install the necessary wrapper library, see Installing Hardware Libraries. The following command will run the example

$./halTest2 -c HalTest2ConfigComedi.json // for comedi$ ./halTest2 -c HalTest2ConfigFlink.json  // for flink

This examples creates a small control system with a couple of peripheral input and output blocks. The main sequence alters the values on digital and analog outputs periodically. It also logs the digital and analog inputs.