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
ost@bblue:$ sudo 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 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.
ost@bblue:$ sudo rc_test_motors -m 2 -d 1 ost@bblue:$ sudo rc_test_motors -m 3 -d 1
ssh into the BeagleBone blue board and run:
ost@bblue:$ sudo rc_test_encoders
If you move the axis you should see encoder values changing.
Next we want to check if all leds and buttons work as desired. Change to root mode
ost@bblue:$ su
The password is “root”. Change into
root@bblue:$ cd /sys/class/gpio
and add the pins involved to the gpio array with
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
The blue led should light up with
root@bblue:$ echo out > gpio98/direction root@bblue:$ echo 1 > gpio98/value
and stop lighting with
root@bblue:$ echo 0 > gpio98/value
Do the same with the red led
root@bblue:$ echo out > gpio49/direction root@bblue:$ echo 1 > gpio49/value root@bblue:$ echo 0 > gpio49/value
And the green led
root@bblue:$ echo out > gpio116/direction root@bblue:$ echo 1 > gpio116/value root@bblue:$ echo 0 > gpio116/value
Read the state of the blue button with
root@bblue:$ echo in > gpio97/direction root@bblue:$ cat gpio97/value
Repeat the last command with the button pressed. Do the same with the red button
root@bblue:$ echo in > gpio57/direction root@bblue:$ cat gpio57/value
And the green button
root@bblue:$ echo in > gpio113/direction root@bblue:$ cat gpio113/value
Exit root mode with
root@bblue:$ exit
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:
sudo cat /dev/input/event1
If you move the mouse you should see some characters on the screen. This shows that the mouse inputs are received by the BBBlue.
Check the direction of the encoders. Lower your TCP and run
ost@bblue:$ rc_test_encoders
on your target. When raising the TCP the encoder values should be positive. Change each negative encoder in the HwConfigBBBlue.json from
"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}
],
to (changed sign in id:enc)
"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}
],
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 to the Target