MicroSpectro/Pixelator
Private
Public Access
11
1
Wiki

Create Running Orocos

watts
2023-10-24 15:11:01 +02:00
parent a567037560
commit 5d07bb3653
1 changed files with 20 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
Running-Orocos.md Normal file

@@ -0,0 +1,20 @@
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.