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| hal [2019/11/30 21:16] – [Configure the Encoder Inputs] graf | hal [2021/06/11 15:59] (current) – [Hardware Abstraction Layer] ursgraf |
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| ====== Hardware Abstraction Layer ====== | ====== Hardware Abstraction Layer ====== |
| EEROS for the Beagle Bone Blue is using the [[https://github.com/StrawsonDesign/librobotcontrol|robotis_cape_library]]. You'll find the wrapper and its functions in the ''bbblue-eeros'' folder. To learn more about the hardware abstraction layer read [[http://wiki.eeros.org/eeros_architecture/hal/start|HAL]] | EEROS for the Beaglebone blue is using the [[https://github.com/StrawsonDesign/librobotcontrol|robotis_cape_library]]. You'll find the wrapper and its functions in the ''bbblue-eeros'' folder. To learn more about the hardware abstraction layer read [[http://wiki.eeros.org/eeros_architecture/hal/start|HAL]] |
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| ===== Configure the Outputs for the Motors ===== | ===== Configure the Outputs for the Motors ===== |
| If you want to run a motor with EEROS you need to define a //Peripheral Output// with the respective ''signalId'' used in the HAL configuration file. As you can see in the configuration file //HwConfigBBBlue.json// the ''subdevice2'' comprises the analog outputs for the 4 motors. In the EEROS application for the Delta roboter you can set a motor voltage of -8.0V to 8.0V. The HAL gets this values and wraps it to match the values of the robotics_cape_library which then runs the motors with the desired voltage. | If you want to run a motor with EEROS you need to define a //Peripheral Output// with the respective ''signalId'' used in the HAL configuration file. As you can see in the configuration file //HwConfigBBBlue.json// the ''subdevice2'' comprises the analog outputs for the motors. In the EEROS application for the Delta roboter you can set a motor voltage of -8.0V to 8.0V. The HAL gets this values and wraps it to match the values of the robotics_cape_library which then runs the motors with the desired voltage. |
| {{ :delta:software:hal-motor.jpg?350 |HAL-Configuration for the motors}} | {{ :delta:software:hal-motor.jpg?350 |HAL-Configuration for the motors}} |
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