The EEROS Education Robotics Platform

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====== Hardware Abstraction Layer ======
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]]

===== 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 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}}

=====Configure the Encoder Inputs =====
The Delta roboter three motors with encoders and gears. You'll find the datasheets in [[components|]]. 
The axis motors are equipped with a gear with the ratio of //76:1// and with an encoder //ieh2-4096//, which provides //4096 lines per revolution//. The quadrature decoder function, which counts the encoder ticks, delivers 4 counts per line. \\ 
To account for this in the configuration file of the HAL, we add three blocks. These blocks mirror the physical behavior of the decoder, encoder, and gear.\\
{{ :delta:software:hal-ieh2.jpg?500 |HAL config for ieh2 encoder}}

The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π.