The building of the software is exactly the same as in Build the Software with the exception that the necessary scripts are slightly different. Fetch them on your cross development system with

$ git clone https://github.com/eeduro/eeduro-scripts.git eeduro
$ cd eeduro/delta-ntb

Use the scripts therein.

The same tests as Test the Hardware 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):

root@bblue:$ cd /sys/class/leds
root@bblue:$ echo 1 > red/brightness

The TCP motor should turn clockwise with the commands

ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_4A=1

and

ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_4B=0

Changing the polarity of MDIR_4A and MDIR_4B will change the direction. In a further shell, configure the pwm signal as follows:

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

The counter0 for the TCP encoder does not have to be enabled. Watch the counter with

ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter0/count0/count 

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.

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.

$ 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

Replace the 'x' with the proper number.