RoboPi v1.00
User Manual v0.85
Copyright 2014 William Henning
How to use Digital Inputs
Reading Bumper Switches
Probably the simplest digital input possible is a switch.
<insert schematic of two bumper switches, 100k pullup to 5v, shorts to ground when closed>
#include <stdio.h>
#include “RoboPiLib.h”
#define LEFT_BUMPER 22
#define RIGHT_BUMPER 23
#define PRESSED 0
int main(int argc, char *argv[]) {
RoboPiInit(“/dev/ttyAMA0”,115200);
pinMode(LEFT_BUMPER, INPUT);
pinMode(RIGHT_BUMPER, INPUT);
while (1) {
if (digitalRead(LEFT_BUMPER)==PRESSED)
puts(“Left Bumper Pressed”);
if (digitalRead(RIGHT_BUMPER)==PRESSED)
puts(“Right Bumper Pressed”);
sleep(1); // only check once per second
}
}
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17
2014-01-27
