Requirements:

Operating System:

• Ubuntu 16.04

Kernel

• Linux 4.14 + PREEMPT_RT

Build

git clone --recursive https://github.com/nicola-sysdesign/ewdl-test.git
mkdir -p ewdl-test/build/
cd ewdl-test/build/
cmake -D CMAKE_BUILD_TYPE=Release ..
make

Warning

The executable will configure the EWDL drive to operate in Cyclic Synchronous Position Mode (CSP), then it will execute a sin function between +/- 10000 encoder counts.

Before run it be sure that the motor is free to move between the limits.

Run

sudo chrt --rr 90 ./main