====== Test the Hardware ======

==== Motors ====
Before testing your assembled electronics plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. We will now test each component individually. ssh into the BeagleBone blue board and run
<code>
ost@bblue:$ sudo rc_test_motors -m 1 -d 1
</code>
//-m 1// selects the first motor while //-d 1// specifies a duty cycle of 1. The motor should lift its bar. If a 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. Check this for all 3 motors.
<code>
ost@bblue:$ sudo rc_test_motors -m 2 -d 1
ost@bblue:$ sudo rc_test_motors -m 3 -d 1
</code>

==== Encoders ====
ssh into the BeagleBone blue board and run:
<code>
ost@bblue:$ sudo rc_test_encoders 
</code>
If you move the axis you should see encoder values changing. 
==== LEDs and buttons ====
Next we want to check if all leds and buttons work as desired. Change to root mode 
<code>
ost@bblue:$ su
</code>
The password is "root". Change into 
<code>
root@bblue:$ cd /sys/class/gpio
</code>
and add the pins involved to the gpio array with
<code>
root@bblue:$ echo 49 > export
root@bblue:$ echo 57 > export
root@bblue:$ echo 97 > export
root@bblue:$ echo 98 > export
root@bblue:$ echo 113 > export
root@bblue:$ echo 116 > export
</code>
The blue led should light up with 
<code>
root@bblue:$ echo out > gpio98/direction
root@bblue:$ echo 1 > gpio98/value
</code>
and stop lighting with
<code>
root@bblue:$ echo 0 > gpio98/value
</code>
Do the same with the red led
<code>
root@bblue:$ echo out > gpio49/direction
root@bblue:$ echo 1 > gpio49/value
root@bblue:$ echo 0 > gpio49/value
</code>
And the green led
<code>
root@bblue:$ echo out > gpio116/direction
root@bblue:$ echo 1 > gpio116/value
root@bblue:$ echo 0 > gpio116/value
</code>
Read the state of the blue button with
<code>
root@bblue:$ echo in > gpio97/direction
root@bblue:$ cat gpio97/value
</code>
Repeat the last command with the button pressed. Do the same with the red button
<code>
root@bblue:$ echo in > gpio57/direction
root@bblue:$ cat gpio57/value
</code>
And the green button
<code>
root@bblue:$ echo in > gpio113/direction
root@bblue:$ cat gpio113/value
</code>
Exit root mode with
<code>
root@bblue:$ exit
</code>

==== Mouse ====

Connect the mouse and check under /dev/input which event is associated to the mouse. You can list the devices with 'ls' before and after you plug the mouse. The device associated to the mouse should be event1. 
If the event is available, you can type following on the terminal: 

<code>
sudo cat /dev/input/event1
</code>

If you move the mouse you should see some characters on the screen. This shows that the mouse inputs are received by the BBBlue. 
===== Adjust Hardware Configuration File =====
Check the direction of the encoders. Lower your TCP and run
<code>
ost@bblue:$ rc_test_encoders 
</code>
on your target. When raising the TCP the encoder values should be positive. Change each negative encoder in the //HwConfigBBBlue.json// from
<code>
"scale": [ { "id" : "gear",
		"minIn": 	0, "maxIn": 1,
		"minOut":	0, "maxOut": 76 },
	   { "id" : "enc",
		"minIn": 	0, "maxIn": 6.283185307179586476925286766559,
		"minOut":	0, "maxOut": 4096},
	   { "id" : "fqd",
		"minIn":	0, "maxIn": 1,
		"minOut":	0, "maxOut": 4}
	 ],
</code>
to (changed sign in id:enc)
<code>
"scale": [ { "id" : "gear",
		"minIn": 	0, "maxIn": 1,
		"minOut":	0, "maxOut": 76 },
	   { "id" : "enc",
		"minIn": 	0, "maxIn": -6.283185307179586476925286766559,
		"minOut":	0, "maxOut": 4096},
	   { "id" : "fqd",
		"minIn":	0, "maxIn": 1,
		"minOut":	0, "maxOut": 4}
	 ],
</code>
Check the encoder and gear values and adjust them if necessary. You can change //HwConfigBBBlue.json// on the host before deploying to the target or on the target directly.
After that you can run the Delta application.

----
**Next: [[deploy|]]**