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--- getting_started:tutorials:oneaxis [2019/04/25 12:03] – [Part 3: Test Application] graf
+++ getting_started:tutorials:oneaxis [2019/04/25 14:19] – [Part 3: Test Application] graf
@@ Line 20: / Line 20: @@
 =====Part 2: Experimental Setup=====
-As a processing platform 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 [[eeros_architecture:hal:hardware_libraries|]].
+As a processing platform 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 [[eeros_architecture:hal:hardware_libraries|]]. In any case you have to install ''comedi'' separately.
 {{ oneAxis_setup.png?688 |}}
 As an alternative we use our cb20 controller board ([[http://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb|]] together with [[http://www.flink-project.ch|]] and the appropriate EEROS hardware wrapper, see [[eeros_architecture:hal:hardware_libraries|]]. \\
-For both alternatives a maxon motor controller (50V / 5A) deflivers the necessary power. The motor we use has the following properties:
+For both alternatives a maxon motor controller (50V / 5A) delivers the necessary power. The motor we use has the following properties:
 |  **Properties**              ^  Value            ^  Unit         ^
@@ Line 31: / Line 31: @@
 =====Part 3: Test Application=====
-Navigate to the build directory of your simple motor control directory.
+If have have installed and built EEROS as described in [[getting_started:install_and_setup_development_environment|]] and [[getting_started:compile_eeros|]], you already have the necessary libraries together with the application. If you use ''comedi'' navigate to the build directory of your simple motor control directory. If you use the cb20 board, follow the instruction in [[https://github.com/ntb-ch/cb20]] to download the necessary files to the target.
 You will find two different hardware configuration files.
   * HalComedi.json
@@ Line 43: / Line 44: @@
 =====Part 4: Implementation=====
 ==== Control System ====
-The control system declares in ''MyControlSystem.hpp'' all the necessary blocks as given in the picture at the top of this page. Those blocks are then defined in ''MyControlSystem.cpp'', connected together, and added to a time domain. At last the time domain is added to the executor. \\
+The control system declares in ''ControlSystem.hpp'' all the necessary blocks as given in the picture at the top of this page. Those blocks are then defined in ''ControlSystem.cpp'', connected together, and added to a time domain. At last the time domain is added to the executor. \\
 ==== Safety System ====
-Safety levels and events are declared in ''MySafetyProperties.hpp''. ''MySafetyProperties.cpp'' initializes these objects, defines critical inputs and outputs, defines level actions, and adds the levels to the safety system. The levels and events causing transitions between those levels are shown in the next figure.
+Safety levels and events are declared in ''SMCSafetyProperties.hpp''. ''SMCSafetyProperties.cpp'' initializes these objects, defines critical inputs and outputs, defines level actions, and adds the levels to the safety system. The levels and events causing transitions between those levels are shown in the next figure.
 [{{ :getting_started:tutorials:safetysystemoneaxis.png?600 |//Safety levels and events//}}]