Differences

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--- ntb:build [2020/01/24 11:10] – [Build the Software] graf
+++ ntb:build [2026/06/03 15:11] (current) – [Test the Hardware] ursgraf
@@ Line 11: / Line 11: @@
 The same tests as [[..::test|]] can be performed on this robot. Additionally, the following two tests must be performed.
-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):
+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:
 <code>
-root@beaglebone:$ cd /sys/class/leds
+ost@bblue:$ echo 1 | sudo tee /sys/class/leds/red/brightness
-root@beaglebone:$ echo 1 > red/brightness
 </code>
-The TCP motor should turn clockwise with the command
+The TCP motor should turn clockwise with the commands
 <code>
-debian@beaglebone:$ rc_test_motors -m 4 -d 1
+ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_4A=1
 </code>
+and
+<code>
+ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_4B=0
+</code>
+Changing the polarity of MDIR_4A and MDIR_4B will change the direction. In a further shell, configure the pwm signal as follows:
+<code>
+ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip4/export
+ost@bblue:$ echo 1000000 | sudo tee /sys/class/pwm/pwmchip4/pwm1/period
+ost@bblue:$ echo 500000 | sudo tee /sys/class/pwm/pwmchip4/pwm1/duty_cycle
+ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip4/pwm1/enable
+</code>
+The counter0 for the TCP encoder does not have to be enabled. Watch the counter with
+<code>
+ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter0/count0/count
+</code>
+If you move the axis you should see counter values changing. Check the direction of the encoder.
+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.