Experimental Setup with a Microzed Board

Back to Control a Single Motor

Use our RT-Board. It delivers the necessary power on its analog output.

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. 

$ flinkanalogoutput -s2 -c0 -o35000

Encoder Inputs

Check if the encoder is properly connected with: 

$ flinkcounter -s1 -c0 -n20 -t1000

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 

$ gpioset -c gpiochip0 10=1

Ready Signal

$ gpioget -c gpiochip0 14

Emergency Signal

$ gpioget -c gpiochip0 14

Run Application

Start the application by choosing the appropriate configuration file: 

$ sudo ./simpleMotorControl -c HwConfigFlinkMicrozed.json

Pay attention to the hardware configuration file. It loads two hardware wrapper libraries.