RoboPi v1.00
User Manual v0.85
Copyright 2014 William Henning
RoboPiObj Constants
INPUT
pin mode for a digital input
OUTPUT
pin mode for a digital output
PWM
pin mode for a PWM output (0..255)
SERVO
pin mode for a servo output (0..2500)
RoboPiObj Methods
start
Initialize RoboPiObj, start service cogs
pinMode(pin, mode)
set digital pin to specified mode
readMode(pin)
read current mode of digital pin
digitalRead(pin)
read current value (0 or 1) at pin, regardless of mode
digitalWrite(pin)
write 0 or 1 to digital pin
analogRead(chan)
read analog input channel, scale to 0..1023 return value
analogReadRaw(chan)
read analog input channel, return raw 0..4095 value
analogWrite (pin, value)
write PWM value to pin, 0 is off, 255 is fully on
servoWrite(pin, value)
write servo position to pin , 0 to 2500 microseconds
servoRead(pin, value)
return last servo position written to pin
readDistance(int pin)
return distance to nearest object in milimeters
delay(ms)
delay for ms milliseconds
delayMicroseconds(us)
delay for us microseconds
RoboPiObj Resource Utilization
RoboPiObj currently uses 4944 bytes of EEPROM/RAM and two cogs for drivers,
ADC_INPUT_DRIVER
MCP3208 driver object
PWM_32_v4
PWM/Servo driver object
http://Mikronauts.com
16
2014-01-27
