Real-Time Robotics Framework

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====== Using the HAL with comedi or flink ======
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/HalTest2.cpp|HalTest2.cpp]]. 

The system uses real hardware inputs and output. The hardware could be [[eeros_architecture:hal:hardware_libraries#comedi|]] or [[eeros_architecture:hal:hardware_libraries#flink|]]. You also need to install the necessary wrapper library, see [[getting_started:install_wrapper|]]. 

Open a shell in the build directory of your EEROS library and run  
<code>
$ ./halTest2 -c HalTest2ConfigComedi.json  // for comedi
$ ./halTest2 -c HalTest2ConfigFlink.json  // for flink
</code>

This examples creates a small control system with a couple of peripheral input and output blocks.
The main sequence alters the values on digital and analog outputs periodically. It also logs the digital and analog inputs.