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getting_started:tutorials:oneaxis_bbb

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getting_started:tutorials:oneaxis_bbb [2026/05/29 12:08] – [Analog Output] ursgrafgetting_started:tutorials:oneaxis_bbb [2026/07/28 10:45] (current) – [Emergency Signal] ursgraf
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 Use a [[https://wiki.ost.ch/spaces/EDS/pages/359858325/BeagleBone+Blue|Beaglebone blue]] board. Connect all the necessary signals according to your hardware configuration file. Use a [[https://wiki.ost.ch/spaces/EDS/pages/359858325/BeagleBone+Blue|Beaglebone blue]] board. Connect all the necessary signals according to your hardware configuration file.
 +{{:getting_started:tutorials:bbbmotor.jpg?400|}}
  
 ===== Testing the Hardware ===== ===== Testing the Hardware =====
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 ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip2/pwm0/enable ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip2/pwm0/enable
 </code> </code>
 +and the motor will finally start to run.
  
  
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 There are 4 connectors denoted with //4 Quadrature encoder inputs//. Connect number 1 with your encoder. Make sure that your encoder works with 3.3V as delivered by this connector. Test the encoder with There are 4 connectors denoted with //4 Quadrature encoder inputs//. Connect number 1 with your encoder. Make sure that your encoder works with 3.3V as delivered by this connector. Test the encoder with
 <code> <code>
-ost@bblue:~$ echo 1 | sudo tee /sys/bus/counter/devices/counter3/count0/enable+ost@bblue:~$ echo 1 | sudo tee /sys/bus/counter/devices/counter1/count0/enable
 ost@bblue:~$ watch -n 0.5 cat /sys/bus/counter/devices/counter1/count0/count ost@bblue:~$ watch -n 0.5 cat /sys/bus/counter/devices/counter1/count0/count
 </code> </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 ==== ==== Ready Signal ====
-The ready signal signals to the controller that the motor controller has powered up. As there is no external motor controller on the Beaglebone blue we simply put this signal on a digital input pin which is connected to the on board push button //Mode//.  +The ready signal signals to the controller that the motor controller has powered up. As there is no external motor controller on the Beaglebone blue we simply put this signal on a digital input pin which is connected to the on board push button //Mode//. Check the state of the button with 
 +<code> 
 +ost@bblue:$ sudo gpioget -c gpiochip1 MODE_BTN 
 +</code> 
 +When not pressed, the button is active. Press the button to not start homing or to pause the movements.
 ==== Emergency Signal ==== ==== Emergency Signal ====
  
-The emergency signal is used to bring the application in a safe mode. We put this input signal on a digital input pin which is connected to the on board push button //Pause//. Later when the application runs we can cause the safety system to switch to an emergency state by pressing the //Pause// button. +The emergency signal is used to bring the application in a safe mode. We put this input signal on a digital input pin which is connected to the on board push button //Pause//. When the application runs we can cause the safety system to switch to an emergency state by pressing the //Pause// button. 
 +<code> 
 +ost@bblue:$ sudo gpioget -c gpiochip1 PAUSE_BTN 
 +</code>
 =====Run Application===== =====Run Application=====
  
getting_started/tutorials/oneaxis_bbb.1780049303.txt.gz · Last modified: by ursgraf