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--- getting_started:tutorials:hal0 [2021/03/31 15:41] – ursgraf
+++ getting_started:tutorials:hal0 [2021/03/31 15:45] – ursgraf
@@ Line 1: / Line 1: @@
 ====== Using the HAL with the Simulator ======
-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/halTest1''. The system uses inputs and output. For this reason you will need to install a simple simulator, see [[getting_started:install_wrapper#simulator|Simulator]]. The following command will run the example
+The [[eeros_architecture:hal:start|]] 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 [[getting_started:install_wrapper#simulator|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 [[https://github.com/eeros-project/eeros-framework/blob/master/examples/hal/HalTest1.cpp|HalTest1.cpp]].
+Open a shell in the build directory of your EEROS library and run
 <code>
 $ ./halTest1 -c HalTest1Config.json