Differences

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--- getting_started:tutorials:oneaxis_microzed [2026/05/28 13:48] – [Analog Output and Enable] ursgraf
+++ getting_started:tutorials:oneaxis_microzed [2026/06/02 10:18] (current) – [Emergency Signal] ursgraf
@@ Line 4: / Line 4: @@
 Use our [[https://wiki.ost.ch/spaces/EDS/pages/342720564/RT-Board|RT-Board]]. It delivers the necessary power on its analog output.
-===== Analog Output and Enable =====
+{{:getting_started:tutorials:microzedmotor.jpg?400|}}
-You can test the analog output together with the motor controller by applying a positive set voltage. Further, you have to enable the motor. The necessary flink test programs will be automatically transfered when deploying the application as described in [[getting_started:deploy:deploy_cb20|]].
+===== Testing the Hardware =====
+==== Analog Output ====
+You can test the analog output together by applying a positive set voltage of about 1V. The necessary flink test program is already included in our image.
 <code>
-$ sudo ./flinkdio -s5 -c0 -wh
+$ flinkanalogoutput -s2 -c0 -o35000
-$ sudo ./flinkanalogoutput -s2 -c0 -o34000
 </code>
-===== Analog Output and Enable =====
+==== Encoder Inputs ====
-You can test the analog output together with the motor controller by applying a positive set voltage. Further, you have to enable the motor. The necessary flink test programs will be automatically transfered when deploying the application as described in [[getting_started:deploy:deploy_cb20|]].
+Check if the encoder is properly connected with:
 <code>
-$ sudo ./flinkdio -s5 -c0 -wh
+$ flinkcounter -s1 -c0 -n20 -t1000
-$ sudo ./flinkanalogoutput -s2 -c0 -o34000
+</code>
+Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.
+==== Enable Output ====
+On the RT-board we do not use an external motor controller and therefore, we cannot really control the motor power with this signal. However, we put the signal onto the //MIO10// output which has a led on the board. Check the function with
+<code>
+$ gpioset -c gpiochip0 10=1
 </code>
+==== Ready Signal ====
+The ready signal is placed on one of the two push button.
+<code>
+$ gpioget -c gpiochip0 14
+</code>
+==== Emergency Signal =====
-===== Encoder Inputs =====
+The second push button causes an emergency signal.
-Check if the encoder is properly connected with:
 <code>
-$ sudo ./flinkcounter -s1 -c0 -n20
+$ gpioget -c gpiochip0 14
 </code>
-Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.
-===== Ready Signal =====
-The ready signal signals to the controller that the motor controller has powered up. .
-===== Emergency Signal =====
+=====Run Application=====
+Start the application by choosing the appropriate configuration file:
+<code>
+$ sudo ./simpleMotorControl -c HwConfigFlinkMicrozed.json
+</code>
-The emergency signal is used to bring the application in a safe mode. We connect this input signal (channel 0 on connector P12 to an external push button. As soon as a logic one is detected on this digital input the safety system is caused to switch to an emergency state.
+Pay attention to the hardware configuration file. It loads two hardware wrapper libraries.
+  * gpio-eeros: for digital inputs and outputs
+  * flink-eeros: for analog output and encoder input