If Orocos has been installed in a shellbox, then you can connect to it with:
# to connect to orocos
telnet localhost 50001
# ^x to kill and restart
# ^d to simply close the telnet connection
Otherwise, Orocos can be started with:
cd ~/work/stxm-test/PixelatorRealtime/startup/PolLux
ulimit -c unlimited
sudo ./startOrocosRT
Once started, you should see a bunch of output scrolling past quickly, firstly loading components, then constructing various devices, including a number of PID loops. Next will be some messages about Connected Port X to Y, then various devices being "configured" or "started". Finally, it will say that it is "Entering Task Deployer" and present a prompt:
Deployer [S]>
If you type in the command "PID0", then the Deployer will print the interface of the PID0 object. Available commands are highlighted in red. For example, PID0.kI will print the current value of the 'kI' feedback parameter. The value can be changed with a command such as:
PID0.kI=0.005
This value is only temporary and might not be saved when the program exits. It is recommended to then use the PID0.saveParam command to write all parameter values for the PID to file.
The typical configuration will have PID0 for the X-axis, PID1 for the Y-axis and PID2 for the Z-axis. Each of these have a kP, kI and kD parameter that can be queried and changed.