Real-Time Robotics Framework

User Tools

Site Tools

You are here: EEROS Wiki » Get Started Using EEROS » Tutorials » Simple System with Control and Safety System
getting_started:tutorials:system1

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
getting_started:tutorials:system1 [2021/03/29 18:29] – ursgrafgetting_started:tutorials:system1 [2026/04/12 12:21] (current) – ursgraf
Line 6: Line 6:
 Open a shell in the build directory of your EEROS library and run  Open a shell in the build directory of your EEROS library and run 
 <code> <code>
-$ sudo LD_LIBRARY_PATH=/home/you/work/project/install-x86/lib/ ./examples/system/systemTest1 -c examples/system/SystemTest1Config.json+$ ./examples/system/systemTest1 -c examples/system/SystemTest1Config.json
 </code> </code>
-IMPORTANT You have to run a program using real time threads with root privileges and you have to set your library path so that the simulator library can be found, see [[getting_started:deploy:deploy_host|]]. +IMPORTANT If you have to run a program using real time threads, make sure that you allow your user to set realtime priorities as shown in [[getting_started:tutorials:rttest|]]. 
  
 This example encompasses a safety system and a control system. The control system has one time domain running several blocks This example encompasses a safety system and a control system. The control system has one time domain running several blocks
Line 15: Line 15:
  
 Upon switching the block also triggers a safety event. The safety system has four safety levels.  Upon switching the block also triggers a safety event. The safety system has four safety levels. 
-[{{ :getting_started:tutorials:systemtest1ss.png?500 |//Safety system of the example// }}]+[{{ :getting_started:tutorials:systemtest1ss.png?300 |//Safety system of the example// }}]
 The system will start in level ''slInitializing''. The system will stay there for five seconds after which the time domain is started and a ''seStartRunning'' event is triggered. This will change the safety system into level ''slRunning''. Here, the integrator sums its input signal up to where the switch reaches its trigger level. The switch will automatically switch to its second input, which is simply a constant signal and the safety event ''seStopping'' causes the safety system to change into level ''slStopped''. It will stay there for three seconds after which it changes back into level ''slRunning'' and also switches its input back to its first input. After that the cycle restarts. The system will start in level ''slInitializing''. The system will stay there for five seconds after which the time domain is started and a ''seStartRunning'' event is triggered. This will change the safety system into level ''slRunning''. Here, the integrator sums its input signal up to where the switch reaches its trigger level. The switch will automatically switch to its second input, which is simply a constant signal and the safety event ''seStopping'' causes the safety system to change into level ''slStopped''. It will stay there for three seconds after which it changes back into level ''slRunning'' and also switches its input back to its first input. After that the cycle restarts.
  
getting_started/tutorials/system1.1617035398.txt.gz · Last modified: by ursgraf