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Hardware Abstraction Layer
EEROS for the Beagle Bone Blue is using the 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 HAL
Configure the Encoder Inputs
The Delta roboter has two different motors with different encoders and gears. You'll find the datasheets of the two types in hardware.
Encoders on the Axis Motors
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.
The total scale will be calculated by the HAL as (76 * 4096 * 4) / 2π.