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getting_started:tutorials:hal0

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getting_started:tutorials:hal0 [2019/09/19 12:14] – [Accessing Output Signals Directly] grafgetting_started:tutorials:hal0 [2021/03/31 15:46] (current) – ursgraf
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 ====== Using the HAL with the Simulator ====== ====== 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|]]. 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> <code>
 $ ./halTest1 -c HalTest1Config.json $ ./halTest1 -c HalTest1Config.json
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 ===== Accessing Output Signals Directly ===== ===== Accessing Output Signals Directly =====
-A peripheral output block delivers a signal to external hardware. Its signal value can be accessed with a get method, see line 46 in the comment in the example code in ''halTest1.cpp''.+A peripheral output block delivers a signal to external hardware. Its signal value can be accessed with a get method, see line 46 in the comment in the example code in [[https://github.com/eeros-project/eeros-framework/blob/master/examples/hal/HalTest1.cpp|HalTest1.cpp]].
  
 Alternatively the signal in the HAL could be accessed by getting an reference to the corresponding output block with Alternatively the signal in the HAL could be accessed by getting an reference to the corresponding output block with
 <code cpp> <code cpp>
-auto digOut = hal.getLogicOutput("dOut0", false);  //line 42+auto digOut = hal.getLogicOutput("dOut0", false);  // line 42
 </code> </code>
 The signal value can then be logged with The signal value can then be logged with
getting_started/tutorials/hal0.1568888091.txt.gz · Last modified: 2019/09/19 12:14 by graf