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hal [2019/11/30 21:16]
graf [Configure the Encoder Inputs]
hal [2020/02/20 11:52] (current)
ursgraf [Configure the Outputs for the Motors]
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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 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}}
  
hal.txt · Last modified: 2020/02/20 11:52 by ursgraf