Differences

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--- getting_started:tutorials:oneaxis_bbb [2026/05/29 11:22] – [Encoder Inputs] ursgraf
+++ getting_started:tutorials:oneaxis_bbb [2026/05/29 12:10] (current) – [Encoder Inputs] ursgraf
@@ Line 10: / Line 10: @@
 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
 <code>
-ost@bblue:$ rc_test_motors -m 1 -d 1
+ost@bblue:$ sudo gpioset -c gpiochip3 MOT_STBY=1
 </code>
-//-m 1// selects the first motor while //-d 1// specifies a duty cycle of 1. The motor should run in positive direction. If the motor turns in the opposite direction, change the + and - wire of the motor. You can stop the program by pressing ''Ctrl-C''. The test program is located in ///usr/bin// and can be run from anywhere.
+Open two other shells and run
+<code>
+ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_1A=1
+</code>
+and
+<code>
+ost@bblue:$ sudo gpioset -c gpiochip3 MDIR_1B=0
+</code>
+Changing the polarity of MDIR_1A and MDIR_1B will change the direction. In a forth shell, configure the pwm signal as follows:
+<code>
+ost@bblue:$ echo 0 | sudo tee /sys/class/pwm/pwmchip2/export
+ost@bblue:$ echo 1000000 | sudo tee /sys/class/pwm/pwmchip2/pwm0/period
+ost@bblue:$ echo 200000 | sudo tee /sys/class/pwm/pwmchip2/pwm0/duty_cycle
+ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip2/pwm0/enable
+</code>
 ==== Enable Signal ====
@@ Line 27: / Line 42: @@
 ost@bblue:~$ watch -n 0.5 cat /sys/bus/counter/devices/counter1/count0/count
 </code>
-Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signals.
+Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the MDIR_1A and MDIR_1B signals above.
 ==== Ready Signal ====