Use a Beaglebone Blue. Connect all the necessary signals according to your hardware configuration file.

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

-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.

On the Beaglebone blue we do not use a motor controller and therefore, we do not use this signal.

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

debian@beaglebone:$ rc_test_encoders 

Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.

• emergency button to a digital input