====== Experimental Setup with a Microzed Board ======

Back to [[oneaxis|]]

Use our [[https://wiki.ost.ch/spaces/EDS/pages/342720564/RT-Board|RT-Board]]. It delivers the necessary power on its analog output. 
{{:getting_started:tutorials:microzedmotor.jpg?400|}}

===== Testing the Hardware =====

==== Analog Output ====
You can test the analog output together by applying a positive set voltage of about 1V. The necessary flink test program is already included in our image.
<code>
$ flinkanalogoutput -s2 -c0 -o35000
</code>
 
==== Encoder Inputs ====
Check if the encoder is properly connected with:
<code>
$ flinkcounter -s1 -c0 -n20 -t1000 
</code>
Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.

==== Enable Output ====
On the RT-board we do not use an external motor controller and therefore, we cannot really control the motor power with this signal. However, we put the signal onto the //MIO10// output which has a led on the board. Check the function with
<code>
$ gpioset -c gpiochip0 10=1
</code>
 
==== Ready Signal ====
<code>
$ gpioget -c gpiochip0 14
</code>

==== Emergency Signal =====

<code>
$ gpioget -c gpiochip0 14
</code>


=====Run Application=====

Start the application by choosing the appropriate configuration file:
<code>
$ sudo ./simpleMotorControl -c HwConfigFlinkMicrozed.json
</code>

Pay attention to the hardware configuration file. It loads two hardware wrapper libraries.
  * gpio-eeros: for digital inputs and outputs
  * flink-eeros: for analog output and encoder input