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Experimental Setup with a Microzed Board
Back to Control a Single Motor
Use our RT-Board. It delivers the necessary power on its analog output.
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.
$ flinkanalogoutput -s2 -c0 -o35000
Encoder Inputs
Check if the encoder is properly connected with:
$ flinkcounter -s1 -c0 -n20 -t1000
Turning the motor in positive direction must lead to the encoder counting upwards. If not, change the A and B signal.
Enable Output
Todo
Ready Signal
The ready signal signals to the controller that the motor controller has powered up. .
Emergency Signal
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.
Run Application
Start the application by choosing the appropriate configuration file:
$ sudo ./simpleMotorControl -c HwConfigFlinkMicrozed.json
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