Differences

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--- ntb:build [2020/01/24 11:10] – [Build the Software] graf
+++ ntb:build [2021/10/06 11:18] (current) – [Test the Hardware] ursgraf
@@ Line 13: / Line 13: @@
 The NTB version of the Delta has a target tool point (TCP) with a motor and a magnet. The magnet can be operated as follows (run as root):
 <code>
-root@beaglebone:$ cd /sys/class/leds
+root@bblue:$ cd /sys/class/leds
-root@beaglebone:$ echo 1 > red/brightness
+root@bblue:$ echo 1 > red/brightness
 </code>
 The TCP motor should turn clockwise with the command
 <code>
-debian@beaglebone:$ rc_test_motors -m 4 -d 1
+ost@bblue:$ sudo rc_test_motors -m 4 -d 1
 </code>
+Check the direction of the encoder.
+<code>
+ost@bblue:$ rc_test_encoders
+</code>
+Turn the TCP clockwise and the encoder values should be positive. If not, change the hardware configuration in //HwConfigBBBlue.json//.
+====== Hardware Configuration Files ======
+The git repository includes a directory //robotList//. There you can find the hardware configuration files for all ntb robots. While most of the configuration is the same for all robots, encoder resolution can differ. Please copy the right configuration file from this directory before downloading to the robot. Also copy the configuration file which fits to your ntb robot.
+<code>
+$ scp delta-ntb/robotList/HwConfigBBBlue.000x.json ost@192.168.7.2:bin/HwConfigBBBlue.json
+$ scp delta-ntb/robotList/delta-sort.000x.conf ost@192.168.7.2:bin/delta-sort.conf
+</code>
+Replace the 'x' with the proper number.