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test [2026/04/24 12:04] – [Encoders] ursgraftest [2026/06/03 15:14] (current) – [Mouse] ursgraf
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 Before testing your assembled electronics plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. We will now test each component individually. ssh into the BeagleBone blue board and run Before testing your assembled electronics plug in the 12V DC power supply or the Li-Po battery, otherwise the motors won't run. We will now test each component individually. ssh into the BeagleBone blue board and run
 <code> <code>
-ost@bblue:$ sudo rc_test_motors -m 1 -d 1+ost@bblue:$ sudo gpioset -c gpiochip3 MOT_STBY=1
 </code> </code>
-//-m 1// selects the first motor while //-d 1// specifies a duty cycle of 1. The motor should lift its bar. If a motor turns in the opposite direction, change the + and - wire of the motor. You can stop the program by pressing ''Ctrl-C''. The test program is located in ///usr/bin// and can be run from anywhere. Check this for all 3 motors.+Open two other shells and run 
 <code> <code>
-ost@bblue:$ sudo rc_test_motors -m 2 -d 1 +ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_1A=1 
-ost@bblue:$ sudo rc_test_motors -m 3 -d 1+</code> 
 +and 
 +<code> 
 +ost@bblue:$ sudo gpioset -c gpiochip3 MDIR_1B=0 
 +</code> 
 +Changing the polarity of MDIR_1A and MDIR_1B will change the direction. In a forth shell, configure the pwm signal as follows: 
 +<code> 
 +ost@bblue:$ echo 0 | sudo tee /sys/class/pwm/pwmchip2/export 
 +ost@bblue:$ echo 1000000 | sudo tee /sys/class/pwm/pwmchip2/pwm0/period 
 +ost@bblue:$ echo 500000 | sudo tee /sys/class/pwm/pwmchip2/pwm0/duty_cycle 
 +ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip2/pwm0/enable
 </code> </code>
  
-==== Encoders ==== +Check the second motor with
-ssh into the BeagleBone blue board and enable the counters:+
 <code> <code>
-ost@bblue:$ echo 1 | sudo tee /sys/bus/counter/devices/counter1/count0/enable  +ost@bblue:$ sudo gpioset -c gpiochip0 MDIR_2A=1
-ost@bblue:$ echo 1 | sudo tee /sys/bus/counter/devices/counter1/count0/enable  +
-ost@bblue:$ echo 1 | sudo tee /sys/bus/counter/devices/counter1/count0/enable +
 </code> </code>
-The counter0 does not have to be enabled. Then watch the counters with+and
 <code> <code>
-ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter0/count0/count  +ost@bblue:$ sudo gpioset -c gpiochip3 MDIR_2B=0
-ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter1/count0/count  +
-ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter2/count0/count  +
-ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter3/count0/count +
 </code> </code>
-If you move the axis you should see counter values changing.  +Changing the polarity of MDIR_2A and MDIR_2B will change the direction. In a forth shell, configure the pwm signal as follows:
-==== LEDs and buttons ==== +
-Next we want to check if all leds and buttons work as desired. Change to root mode +
 <code> <code>
-ost@bblue:$ su+ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip2/export 
 +ost@bblue:$ echo 1000000 | sudo tee /sys/class/pwm/pwmchip2/pwm1/period 
 +ost@bblue:$ echo 500000 | sudo tee /sys/class/pwm/pwmchip2/pwm1/duty_cycle 
 +ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip2/pwm1/enable
 </code> </code>
-The password is "root". Change into + 
 +Check the third motor with
 <code> <code>
-root@bblue:$ cd /sys/class/gpio+ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_3A=1
 </code> </code>
-and add the pins involved to the gpio array with+and
 <code> <code>
-root@bblue:$ echo 49 > export +ost@bblue:$ sudo gpioset -c gpiochip1 MDIR_3B=0
-root@bblue:$ echo 57 > export +
-root@bblue:$ echo 97 > export +
-root@bblue:$ echo 98 > export +
-root@bblue:$ echo 113 > export +
-root@bblue:$ echo 116 > export+
 </code> </code>
-The blue led should light up with +Changing the polarity of MDIR_3A and MDIR_3B will change the direction. In a forth shell, configure the pwm signal as follows:
 <code> <code>
-root@bblue:$ echo out > gpio98/direction +ost@bblue:$ echo 0 | sudo tee /sys/class/pwm/pwmchip4/export 
-root@bblue:$ echo 1 > gpio98/value+ost@bblue:$ echo 1000000 | sudo tee /sys/class/pwm/pwmchip4/pwm0/period 
 +ost@bblue:$ echo 500000 | sudo tee /sys/class/pwm/pwmchip4/pwm0/duty_cycle 
 +ost@bblue:$ echo 1 | sudo tee /sys/class/pwm/pwmchip4/pwm0/enable
 </code> </code>
-and stop lighting with+==== Encoders ==== 
 +Enable the counters with:
 <code> <code>
-root@bblue:$ echo 0 > gpio98/value+ost@bblue:$ echo 1 | sudo tee /sys/bus/counter/devices/counter1/count0/enable  
 +ost@bblue:$ echo 1 | sudo tee /sys/bus/counter/devices/counter2/count0/enable  
 +ost@bblue:$ echo 1 | sudo tee /sys/bus/counter/devices/counter3/count0/enable 
 </code> </code>
-Do the same with the red led+Then watch the counters with
 <code> <code>
-root@bblue:$ echo out > gpio49/direction +ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter1/count0/count  
-root@bblue:$ echo 1 > gpio49/value +ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter2/count0/count  
-root@bblue:$ echo 0 > gpio49/value+ost@bblue:$ watch -n 0.5 cat /sys/bus/counter/devices/counter3/count0/count 
 </code> </code>
-And the green led+If you move the axis you should see counter values changing.  
 + 
 +==== LEDs and buttons ==== 
 +Next we want to check if all leds and buttons work as desired. 
 +The blue led should light up on pin GPIO3_2 with 
 <code> <code>
-root@bblue:$ echo out > gpio116/direction +ost@bblue:$ sudo gpioset -c gpiochip2 GPIO3_2=1
-root@bblue:$ echo 1 > gpio116/value +
-root@bblue:$ echo 0 > gpio116/value+
 </code> </code>
-Read the state of the blue button with+Do the same with the red led on pin GPIO1_17 
 <code> <code>
-root@bblue:$ echo in > gpio97/direction +ost@bblue:$ sudo gpioset -c gpiochip0 GPIO1_17=1
-root@bblue:$ cat gpio97/value+
 </code> </code>
-Repeat the last command with the button pressed. Do the same with the red button+And the green led on pin GPIO3_20
 <code> <code>
-root@bblue:$ echo in > gpio57/direction +ost@bblue:$ sudo gpioset -c gpiochip2 GPIO3_20=1
-root@bblue:$ cat gpio57/value+
 </code> </code>
-And the green button+Read the state of the blue button with
 <code> <code>
-root@bblue:$ echo in > gpio113/direction +ost@bblue:$ sudo gpioget -c gpiochip2 GPIO3_1
-root@bblue:$ cat gpio113/value+
 </code> </code>
-Exit root mode with+When the button is pressed it will return //"1"=active//, //"1"=inactive// otherwise. Do the same with the red button 
 +<code> 
 +ost@bblue:$ sudo gpioget -c gpiochip0 GPIO1_25 
 +</code> 
 +And the green button
 <code> <code>
-root@bblue:$ exit+ost@bblue:$ sudo gpioget -c gpiochip2 GPIO3_17
 </code> </code>
  
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 <code> <code>
-sudo cat /dev/input/event1+sudo cat /dev/input/event0
 </code> </code>
  
 If you move the mouse you should see some characters on the screen. This shows that the mouse inputs are received by the BBBlue.  If you move the mouse you should see some characters on the screen. This shows that the mouse inputs are received by the BBBlue. 
 +
 ===== Adjust Hardware Configuration File ===== ===== Adjust Hardware Configuration File =====
-Check the direction of the encoders. Lower your TCP and run +Check the direction of the encoders. Lower your TCP and run watch your encoder values.When raising the TCP the encoder values should be positive. Change each negative encoder in the //HwConfigBBBlue.json// from
-<code> +
-ost@bblue:$ rc_test_encoders  +
-</code> +
-on your target. When raising the TCP the encoder values should be positive. Change each negative encoder in the //HwConfigBBBlue.json// from+
 <code> <code>
 "scale": [ { "id" : "gear", "scale": [ { "id" : "gear",
test.1777025063.txt.gz · Last modified: by ursgraf