https://wiki.eeros.org/ 2026-05-06T12:54:02+00:00 https://wiki.eeros.org/ https://wiki.eeros.org/_media/logo.png text/html 2015-02-11T12:26:02+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/block?rev=1423657562&do=diff Create a new block for the control system text/html 2021-03-29T16:23:09+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/blocks?rev=1617034989&do=diff Using Blocks This examples shows how single blocks can be instantiated. They can be named and their inputs and outputs can be connected to other blocks. The signals in between can be named as well. In the EEROS library you will find a directory with examples. For this example see text/html 2016-10-23T08:28:06+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/controlsystem?rev=1477211286&do=diff Control System with One Time Domain A simple control system consists of a single time domain which has to be run periodically by the excutor. Write your main program as follows. First you have to define the executor and set ist own speed. The executor runs its own periodic task, the main task. text/html 2026-04-12T14:29:24+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/controlsystemcan1?rev=1776004164&do=diff Control System Using CAN In the EEROS library you will find a directory with examples. This examples will only be present in your build directory if EEROS was built with -DUSE_CAN=TRUE set. Make sure that your user has access to the device driver file, e.g. text/html 2026-04-12T14:26:15+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/hal0?rev=1776003975&do=diff Using the HAL with the Simulator The Hardware Abstraction Layer provides an interface between the robot control system and the hardware of the robot. As we do not have any real output we will use a simulator, see Simulator. The system in this example uses inputs and outputs. In the EEROS library you will find a directory with examples. For this example see text/html 2026-04-12T14:26:45+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/hal1?rev=1776004005&do=diff Using the HAL with comedi or flink In the EEROS library you will find a directory with examples. For this example see HalTest2.cpp. 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 text/html 2026-04-12T14:27:02+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/hal2?rev=1776004022&do=diff Using the HAL with a Watchdog Timer In the EEROS library you will find a directory with examples. For this example see HalTest3.cpp. The system uses real hardware inputs and output with flink. You also need to install the necessary wrapper library for flink, see Installing Hardware Libraries. text/html 2026-04-12T14:27:32+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/hal4?rev=1776004052&do=diff Using ROS through the HAL EEROS can communicate with ROS through the HAL, see Interfacing with ROS. The HAL can work with ROS1 or ROS2. However, you have to make sure, that you compile EEROS with support for the right version of ROS and use the right version for the ROS HAL. text/html 2026-04-12T14:31:14+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/inputdev1?rev=1776004274&do=diff Reading from a Mouse / Keyboard / XBox Controller / Space Navigator For each input device there is a special block in the control system which handles the specific device, see Available Blocks. Make sure that your current user has access rights to the coresponding device file, e.g. text/html 2021-03-29T16:16:46+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/logging?rev=1617034606&do=diff Use Logging Logging helps to understand what your running system is currently doing. Read about the possibilities of the logging framework in Logging. In the EEROS library you will find a directory with examples. For this example see LoggerTest.cpp. Open a shell in the build directory of your EEROS library and run text/html 2026-04-12T14:36:41+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/mockrobot?rev=1776004601&do=diff Mock Robot Example This tutorial demonstrates an EEROS application complete with a control system, a safety system, and a sequencer. You can find the code under MockRobotExample.cpp. Start the program with $ ./examples/system/mockRobotExample The Full Picture This example does not need any hardware. Before a robot can be moved it has usually to be homed. After homing the moving of a robot is pretended by using integrators summing up. This represents the position on an axis. text/html 2021-02-12T16:22:41+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/oneaxis_bbb?rev=1613146961&do=diff Experimental Setup with a Beaglebone Blue Board Use a Beaglebone blue board. Connect all the necessary signals according to your hardware configuration file. Analog Output There are 4 connectors denoted with DC Motors. Connect number 1 with the motor. Before testing plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. ssh into the Beaglebone blue board and run text/html 2019-10-15T11:15:37+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/oneaxis_cb20?rev=1571138137&do=diff Experimental Setup with a cb20 Board Use our cb20 Board. A maxon motor controller on a db11 Board delivers the necessary power. Connect all the necessary signals according to the table in db11 Board. Analog Output and Enable You can test the analog output together with the motor controller by applying a positive set voltage. Further, you have to enable the motor. The necessary flink test programs will be automatically transfered when deploying the application as described in text/html 2019-10-16T07:05:17+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/oneaxis_comedi?rev=1571209517&do=diff Experimental Setup with a PC with National Instruments Card We use a regular PC (x86-64) together with a National Instrument card: PCIe - 6251 (M-Series). The card requires the comedi library together with the EEROS hardware wrapper, see comedi. In any case you have to install text/html 2023-04-13T09:29:48+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/oneaxis?rev=1681378188&do=diff Control a Single Motor This tutorial will show you how to control a single motor using EEROS. This example is located in a separate repository <https://github.com/eeros-project/simple-motor-control.git>. Theoretical Background A motor position is measured by an encoder. After differentiating this signal we obtain the velocity. The input of the velocity controller is the difference between reference and measured velocity. Additionally, the feed forward velocity is added. The output of this co… text/html 2026-04-12T10:08:44+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/rttest?rev=1775988524&do=diff Test your Realtime System You might wonder how precise the periodic execution of your safety system and control system is. Keep in mind that EEROS will run on systems with or without realtime capabilities. However, the latencies will greatly affect the precision of the periodic execution of the threads running the safety and control system. text/html 2021-03-31T12:37:59+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/sequencer1?rev=1617194279&do=diff Running a Simple Sequence The following examples demonstrate how a single sequence runs a few steps. When the sequence takes too long to run, a timeout monitor fires and runs an exception sequence. Simple Sequence with Five Steps In the EEROS library you will find a directory with examples. For this example see text/html 2026-04-12T14:13:07+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/sequencer2?rev=1776003187&do=diff Example with Blocking Sequence The following example all have a main sequence which calls a few steps and a another sequence. This second sequence is a blocking sequence. That means that the main sequence pauses while the second sequence runs. A timeout monitor either supervises the main sequence or the second sequence. text/html 2026-04-12T14:22:43+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/sequencer3?rev=1776003763&do=diff Example with Nonblocking Sequence The following example all have a main sequence which calls a few steps and a another sequence. This second sequence is a nonblocking sequence. That means that the main sequence runs in parallel to the second sequence. A timeout monitor either supervises the main sequence or the second sequence. text/html 2021-03-31T13:40:52+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/sequencer4?rev=1617198052&do=diff Sequence with two Monitors In the EEROS library you will find a directory with examples. For this example see SequencerTest40.cpp. Open a shell in the build directory of your EEROS library and run $ ./examples/sequencer/sequencerTest40 This example shows a sequence with two associated monitors. The text/html 2026-04-12T09:39:42+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/start?rev=1775986782&do=diff Tutorials In this section you can find step-by-step instructions and examples for learning how to use the various parts of EEROS. Running the examples depends on the platform on which you want to execute them. These tutorial pages assume that you run them on the host. For running them on a target, please see the appropriate page in text/html 2026-04-12T14:35:21+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/subsystem?rev=1776004521&do=diff Subsystem In the EEROS library you will find a directory with examples. For this example see SubSystemTest.cpp. Open a shell in the build directory of your EEROS library and run $ ./examples/system/subSystemTest The example shows how a few blocks are packed into a subsystem which is used by a control system also using other blocks. text/html 2026-04-12T10:21:35+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/system1?rev=1775989295&do=diff Simple System with Control and Safety System It is time to study a basic system consisting of a control system and a safety system. The control system in this example encompasses a few blocks and one of their signals will be written to an output. As we do not have any real output we will use a simulator, see text/html 2026-04-12T13:58:04+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/system2?rev=1776002284&do=diff Example with a More Complex Safety System This example shows how to use the safety system. It further uses two inputs and two outputs. For this reason we will use the simulator again, see Simulator. In the EEROS library you will find a directory with examples. For this example see text/html 2026-04-12T14:00:08+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/system3?rev=1776002408&do=diff Triggering Safety Event from Control System In the EEROS library you will find a directory with examples. For this example see SystemTest3.cpp. Open a shell in the build directory of your EEROS library and run $ ./examples/system/systemTest3 The example comprises a safety system with only two safety levels and two safety events. The system will start in the safety level text/html 2026-04-12T14:04:31+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/systemeeros1?rev=1776002671&do=diff Control System Talking to Other System The situation can arise that you want to send data from an external application to the control system of an EEROS application. You also might want to send data from the EEROS application to an external application. Further, two separate EEROS applications might want to exchange data. For this purpose, EEROS offers a block which opens a socket connection. text/html 2026-04-12T14:01:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/systemros1?rev=1776002487&do=diff Control System Talking to ROS EEROS can work with ROS1 or ROS2. However, you have to make sure, that you compile EEROS with support for the right version of ROS. Further, the naming and use of the tools in ROS1 and ROS2 have slightly changed. Using ROS1 text/html 2026-04-12T14:34:11+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/tasking1?rev=1776004451&do=diff Harmonic Tasks The Executor runs the time domains of the control system and the safety system. The time domains are handled by harmonic tasks. The following examples demonstrate the use of such harmonic tasks. Main task with one Harmonic In the EEROS library you will find a directory with examples. For this example see text/html 2026-04-12T14:10:27+00:00 Anonymous (anonymous@undisclosed.example.com) https://wiki.eeros.org/getting_started/tutorials/transition1?rev=1776003027&do=diff Transitions Between Different Timedomains In the EEROS library you will find a directory with examples. For this example see TransitionBlockTest.cpp. Open a shell in the build directory of your EEROS library and run $ ./examples/block/transitionBlockTest The example demonstrates the use of two different transition blocks. The systems runs two timedomains, one with 5s, the second with 50ms. The first transition block works as interpolator with a ratio of 100. The second transition transfe…