getting_started:tutorials:oneaxis_bbb
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getting_started:tutorials:oneaxis_bbb [2019/10/14 17:02] – graf | getting_started:tutorials:oneaxis_bbb [2021/02/12 17:22] (current) – [Experimental Setup with a Beaglebone Blue Board] ursgraf | ||
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====== Experimental Setup with a Beaglebone Blue Board ====== | ====== Experimental Setup with a Beaglebone Blue Board ====== | ||
- | Use a [[https:// | + | Use a [[https:// |
===== Analog Output ===== | ===== Analog Output ===== | ||
- | 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 | + | 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 |
< | < | ||
- | debian@beaglebone:$ rc_test_motors -m 1 -d 1 | + | ost@bblue:$ rc_test_motors -m 1 -d 1 |
</ | </ | ||
//-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 '' | //-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 '' | ||
+ | ===== Enable Signal ===== | ||
+ | On the Beaglebone blue we do not use a motor controller and therefore, we do not use this signal. However, we put the signal onto the green led on the board. | ||
- | * Analog output and enable signal to the motor controller | + | ===== Encoder |
- | * Encoder | + | There are 4 connectors denoted with //4 Quadrature encoder |
- | | + | < |
- | * emergency button to a digital input | + | ost@bblue:$ rc_test_encoders |
+ | </ | ||
+ | Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signals. | ||
- | IMPORTANT Make sure that a positive voltage on the motor leads to the encoder counting upwards. If the opposite | + | ===== Ready Signal ===== |
- | IMPORTANT On the beaglebone blue board, you don't need a motor controller. Hence, you do not need the enable | + | The ready signal signals to the controller |
+ | ===== 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. |
getting_started/tutorials/oneaxis_bbb.1571065373.txt.gz · Last modified: 2019/10/14 17:02 by graf