RoboPi User Manual v0.85b
Contents
1. DIR PWM Two Wire Driver Other motor drivers use extra logic to to use one pin as motor direction and another as a PWM input to control the motor speed For these drivers use digitalWrite to set direction pin then use analogWrite to control the motor speed using pulse width modulation Please note that the minimum speed will be different for different motors http Mikronauts com 22 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Why the ENABLE signal of three wire drivers is useful Most motor drivers will actively break the motor if the A and B inputs are at the same level When PWM speed control is used both inputs are guaranteed to be driven low during the off period of the PWM signal which will short the two motor leads actively breaking This is less than ideal for the motor as it will get short spurts of power then break repeatedly The practical effect of this is that low speed motor control will not be linear and the motor will sound like it is grinding http Mikronauts com 23 2014 01 27 RoboPi v1 00 User Manual v0 85 Two pin motor driver sample code include lt stdio h gt include RoboPiLib h define MOTORA IA 12 define MOTORA_IB 13 define MOTORB IA 14 define MOTORB IB 15 int main int argc char argv int 1 RoboPilnit dev ttyAMAO0 115200 while 1 set both motors FORWARD pinMode MOTORA IA PWM pinMode MOTORA IB OUTPUT di2. OPI illiam H olololololold o00000o005 319 00 010000 00000000 00000000 Here is a top view of ren parts are located on the RoboPi printed circuit board N NBAT GND gt You can refer to this image while wiring your robot after assembling your RoboPi PLEASE NOTE The PROPPLUG connection is for stand alone RoboPi operation where RoboPi is NOT stacked on top of a Raspberry Pi Pins 1 4 are the same as PropPlug Pin 1 is GND Pin 5 adds 3 3V for SerPlug Plugging in a PropPlug while RoboPi is stacked on the Raspberry Pi may damage your Raspberry Pi PropPlug and or RoboPi http Mikronauts com 5 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning RoboPi I O Pin Definitions Before you can write programs for your RoboPi based robot you have to learn what resources are available for you to connect to sensors motors and other devices or boards P0 P7 SERVO I SERVO 8 e 10 pin EXPI connector connected directly to processor pins 3v3 I O only connects to signal pin on SERVO1 8 through a 2k4 current limiting resistor SV I O safe e For the servo header SV2 selects between the Pi s SV and VBat from the screw terminal P8 P15 SERVO 9 SERVO 16 10 pin EXP2 connector connected directly to processor pins 3v3 I O only connects to signal pin on SERVO9 16 through a 2k4 current limiting resistor 5V I O safe e For the servo header SV3 selects between the Pi s SV and VB
3. analog output of the sensor is unreliable at ranges shorter than 15cm Unfortunately the output voltage is not linear with respect to the distance to the object however it is easy to construct a table of voltages corresponding to the distance to object in 10cm increments Finer distance measurement can be approximated by using linear interpolation as the line segments between the 10cm data points can be reasonably approximated by straigt line segments Dist analogRead IR Channel As analogRead returns 0 for OV and 1023 for 5V we can scale its output to 1 100th of a volt by Dist 500 Dist 1024 Giving us Dist as 0 for OV and 500 for 5V Of course you could do the reading amp scaling in one step Dist 500 analogRead IR_Channel 1024 Please see page 5 of the data sheet for the graph of voltage vs distance http Mikronauts com 26 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning How to Read Digital Ultrasonic Range Sensors The RoboPi firmware implements preliminary support ultrasonic range sensors All supported ultrasonic distance sensors will use a generic interface RoboPiLib int readDistance int ch RoboPiObj readDistance ch will return the distance to the nearest object in millimeters Supported Ultrasonic Sensors HC SR04 PARALLAX PING SEEDSTUDIO 136B tested working not tested should function not tested How to connect your ultrasonic range sensor HC SR04 pin
4. E a 22 EN DIR PW Mi Three Wire Diver ns naeh 22 DIRPWM Two Wite APA 22 Why the ENABLE signal of three wire drivers is useful essessesssensnennsnennnnnnnenennneenennnn 23 TWO PT sample Odne 24 How to Read Analog Distance Sensors san hauen 26 How to Read Digital Ultrasonic Range Sensors rsrvrenvvrvnvrenvernrvrennernrnrenrerernrennersrnsennersrnssesrnnssesnnsssennn 27 Supported Ultrasonic Schornstein See 27 How to connect your ultrasonic range sensor sinne 27 Stand Alone Operation Requirements nase 28 Appendix de 29 PATNA 29 Appendix C SPP een ee een 29 Appendix D RoboProp Software Compatibility noeonnneonnnnnrrnonrnnnnrrenrrrnrnnrnrernrrrennrrnrrrenrersrnernrrersrnsseenn 30 Appendix E Frequently Asked Questions cccccsccssseeseeeeseeeseeeeeeceseeeseeceseceseeceseeeaeceaeeeeeeeeaeeeeesaeeeees 31 http Mikronauts com 3 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Introduction RoboPi is the most advanced robot controller add on board for the Raspberry Pi available at this time RoboPi adds an eight core 32 bit microcontroller running at 100Mhz to the Raspberry Pi in order to off load hard real time I O and allow more precise timing than Linux running on the Pi allows RoboPi stacked on top of a Model A Raspberry Pi RoboPi can also be stacked on top of Model B Raspberry Pi s RoboPi Features e Parallax Propeller P8X32 eight core 32 bit Risc microcontroller runni
5. Lib o http Mikronauts com 14 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Using RoboPi without a Raspberry Pi stand alone operation Installing SimpleIDE on PC Mac Linux for stand alone RoboPi use Parallax has written an excellent guide for installing SimpleIDE at http learn parallax com propeller c set simpleide Introducing RoboPiObj If you want to run RoboPi stand alone without a Raspberry Pi you can still take advantage of the RoboPI API natively RoboPiObj spin is the top level Spin object for implementing the functionality that is exposed by the firmware and as such it can be used directly from Spin programs running on RoboPi s Propeller micrcocontroller Please note this is only recommended for those that want to get to the bare metal as it means that your robot will be controlled by RoboPi s propeller and not by a Raspberry Pi or external computer You can ofcourse implement your own protocol and even ignore RoboPiObj by writing from the ground up but I think you will find that RoboPiObj takes care of the low level details for you and lets you concentrate on your application http Mikronauts com 15 2014 01 27 RoboPi v1 00 RoboPiObj Constants INPUT OUTPUT PWM SERVO RoboPiObj Methods start pinMode pin mode readMode pin digitalRead pin digital Write pin analogRead chan analogReadRaw chan analogWrite pin value servoWrite pin value se
6. P3208 MCP3008 driver soon which will allow a common code base Q Do you have any distributors in lt name of country gt A We are working hard to set up our distribution network Please email your favorite web stores and have them contact us if they are interested in RoboPi http Mikronauts com 31 2014 01 27
7. RoboPi Pin use any of 24 servo three pin headers Vcc Servo header red wire any of 24 servo three pin headers Trig 10 pin female header corresponding to selected pin Echo Servo header white wire GND Servo header black wire Ping pin RoboPi Pin use any of 24 servo three pin headers 5V Servo header red wire SIG Servo header white wire GND Servo header black wire Seeedstudio 136B pin RoboPi Pin use any of 24 servo three pin headers 5V Servo header red wire SIG Servo header white wire GND Servo header black wire http Mikronauts com 27 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Stand Alone Operation Requirements Supply 5V to RoboPi via one of pins 2 amp 4 of the 2x13 pin Pi Header e PiSV terminal of power selection header SV2 or SV3 Supply GND to RoboPi via one of e pins 9 amp 14 of the Pi Header e GND terminal of the external motor power screw terminal If you will never mount your RoboPi on a Raspbery Pi you could mount a two pin screw terminal on pins 2 5V amp 6 GND for supplying SV Use a PropPlug to program your stand alone RoboPi http Mikronauts com 28 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Appendix A Software e Raspbian Wheezy or later e SimplelDE 0 8 4 or later e propeller load3 or later e RoboPi API v1 0 or later e RoboPiLib v1 0 or later Appendix B Data Sheets http www parallax com sites defau
8. RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Using RoboPi Copyright 2014 William Henning RoboPi User Manual v0 85 Des ar 2 2 ne Photo I Fully assembled RoboPi v1 00 The most up to date documentation will always be available at http www mikronauts com raspberry pi robopi http Mikronauts com 1 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Table of Contents Mor 4 RoboPi Printed Circuit Board sunuenaike nee make au ale 5 R boPi VO Pin Dein ons ae ioi eana aE ss enreeeeiaieeie 6 PO PF SERVO 1 GE EE EE RE 6 P8 P15 SERVO SERVO eee 6 P16 P23 SENSOR L BINS ORG nn een 6 P24 P27 SPI port for MCEPSUUVMEP 208 ee ee 6 ADC1 ADC8 0 5V Analog Inputs anna couyesdaneanesdaswenaviagsersenseustuawhreansdeneanonnses 6 ROD OP 1 Expansion Ke ONS NSG 7 R spberry Pi VO header EE rele EE 7 EXP1 EXP2 EXP3 3v3 Expansion Connect fs aaa ne 7 PEPE Header ae TE E E 7 MT 7 PROPPEUG Header ei rennen 7 Using RoboPi with ne Raspberry Pi a a 8 Downloading amp Installing Raspbian Debian for the Pi ce eeeeseeseeseeeseeeeeeneeeseceeeeneeeseeeeeceeeeeaees 8 Step 1 Get a compatible Class 10 speed SD card 8GB 32GB in size cennnnnennenenn 8 Step 2 Download the latest Raspbian 1a Oe cases 2ssseaisiccessnanccnanssscdeevs a a 8 Step 3 Install RPO nennen 8 Step 4 Using the Raspberry Pi serial port with RoboPi resnrrnrronvornrvrenvvrnrrrenrersrnrenne
9. VO MAX i 100 servoWrite LEFT SERVO i servoWrite RIGHT SERVO SERVO REV i printf LEFT SERVO d n servoRead LEFT SERVO Copyright 2014 William Henning printf RIGHT SERVO d n servoRead RIGHT SERVO sleep 1 j j j Controlling a Continuous Rotation Servo If you are using continous rotation servos the above code will cause the two servos run in one direction then the opposite direction at varying speed Controlling a Standard Servo If you are using standard servos the above code will turn the servos as far as possible in one direction then the other direction http Mikronauts com 20 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning How to use PWM to control Gear Motors Standard motor drivers normally are controlled by two or three digital signals per motor EN A B Three Wire Driver The popular L293D and L298 motor drivers are often configured for EN A B three wire control For three wire drivers use digitalWrite to set the two direction pins then use analogWrite to control the motor speed using pulse width modulation Please note that the minimum speed will be different for different motors Some driver boards permanently tie EN high in order to use only two pins however I do not recommend this practice as it is harder on both the motors and batteries more later EN Function 0 Disable the motor driver motor coasts 1 Enable the motor motor turns
10. at from the screw terminal P16 P23 SENSOR I SENSOR 8 10 pin EXP3 connector connected directly to processor pins 3v3 I O only e connects to signal pin on SENSOR 1 8 through a 2k4 current limiting resistor 5V I O safe e the Pi s SV is used for SENSOR1 8 to provide cleaner power to Ping s etc P24 P27 SPI port for MCP3008 MCP3208 e P24 is MISO connected to DO on ADC through a 2k4 current limiting resistor e P25 is MOSI e P26is CLK e P27is CS ADCI ADC 0 5V Analog inputs connects to the signal pin on ADC1 8 servo style header e the Pi s SV is used for ADC1 8 to provide cleaner power to Ping s etc http Mikronauts com 6 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning RoboPi Expansion Connectors Raspberry Pi I O header pins e RoboPi requires exclusive use of RX TX e RoboPi makes the Raspberry Pi I2C available on a Mikronauts four pin 3v3 I2C header All other Raspberry Pi I O pins are available for your use e Mikronauts EZasPi was designed to stack between RoboPi and Raspberry Pi for expansion e Mikronauts EZasPi B was designed to stack below the Raspberry Pi for more expansion EXPI EXP2 EXP3 3v3 Expansion Connectors e EXP1 is for Propeller pins PO P7 and servo connectors 1 8 e EXP2 is for Propeller pins P8 P15 and servo connectors 9 16 e EXP3 is for Propeller pins P16 P23 and sensor connectors 1 8 e Mikronauts 3v3 10 pin modules can be used in EXP1 EXP2 EXP3 e You must not use the 3
11. c char argv RoboPilnit 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 http Mikronauts com 17 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning How to use Digital Outputs The simplest way of demonstrating a digital output is to use it to light an LED Using LED s to show which bumper is pressed lt insert schematic of two LED s connected to EXP pins through 470R resistors gt include lt stdio h gt include RoboPiLib h define LEFT BUMPER 22 define RIGHT_BUMPER 23 define LEFT LED 8 define RIGHT LED 9 define PRESSED 0 int main int argc char argv RoboPilnit dev ttyAMA0 115200 pinMode LEFT BUMPER INPUT pinMode RIGHT_BUMPER INPUT pinMode LEFT_LED OUTPUT pinMode RIGHT_LED OUTPUT while 1 digitalWrite LEFT_LED digitalRead LEFT_BUMPER digitalWrite RIGHT_LED digitalRead RIGHT_BUMPER http Mikronauts com 18 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning How to use Analog Inputs Reading a Potentiometer Probably the simplest analog input possible is a potentiometer lt insert schematic of potentiometer as voltage divider going to analog input gt include lt st
12. dio h gt include RoboPiLib h define POT 0 int main int argc char argv RoboPilnit dev ttyAMA0 115200 while 1 printf Potentiometer value is d n analogRead POT sleep 1 only check once per second Reading a CdS Photocell light sensor lt insert schematic of CdS circuit gt Connect a 10K pullup to the signal pin of an analog input to 5V also connect one side of the CdS to the signal pin Connect the other leg of the CdS to GND Use analogRead ch to read SirMorph sensors and you will get a value between 0 1023 representing the amount of light detected by the CdS sensor Reading SirMorph short range distance line sensor SirMorph provides a standard 3 pin Sig GND interface that can be plugged directly into any of the eight analog inputs on RoboPi Use analogRead ch to read SirMorph sensors and you will get a value between 0 1023 representing the amount of light reflected into the photo transistor http Mikronauts com 19 2014 01 27 RoboPi v1 00 How to use Servos include lt stdio h gt include RoboPiLib h define define define define define LEFT SERVO RIGHT SERVO SERVO MIN SERVO MAX SERVO REV User Manual v0 85 0 1 500 2500 SERVO MIN SERVO MAX int main int argc char argv int 1 RoboPilnit dev ttyAMAO 115200 pinMode LEFT_ SERVO SERVO pinMode RIGHT_SERVO SERVO while 1 for i SERVO MIN i lt SER
13. eIDE for the Raspberry Pi OPTIONAL You only need to install Simplelde if you want to write your own custom Propeller software for RoboPi on your Raspberry Pi and do not wish to use the RoboPi firmware and RoboPiLib Only advanced users should attempt to program RoboPi from the bare metal Here is how you can install the Propeller SimpleIDE development environment http Mikronauts com 10 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Introducing RoboPiLib RoboPiLib is a library designed to interface the Raspberry Pi with the RoboPi firmware RoboPiLib was designed to make it easy to write programs on the Raspberry Pi that use all of the firmware features of RoboPi and was designed to be familiar to those coming to RoboPi from WiringPi Arduino or Wiring environments RoboPiLib is available for both Python and C and the native Spin object uses the same API as RoboPiLib The Python interface that is almost identical to the C interface all you have to do is prefix the library function names as follows Python Examples import RoboPiLib as RoboPi connect to RoboPi RoboPi RoboPilnit dev ttyAMA0 115200 set pin 16 to an output and write 1 to it RoboPi pinMode 16 RoboPi OUTPUT RoboPi digitalWrite 16 1 set pin 17 to a PWM output and generate a 50 PWM on pin 17 RoboPi pinMode 17 RoboPi PWM RoboPi analogWrite 17 127 read analog input 0 print RoboPi analogRead 0 ht
14. gital Write MOTORA 1B 0 pinMode MOTORB IA PWM pinMode MOTORB IB OUTPUT digital Write MOTORB I1B 0 for i 0 i lt 256 i 16 analog Write MOTORA IA i analog Write MOTORB IA i sleep 1 http Mikronauts com 24 Copyright 2014 William Henning 2014 01 27 RoboPi v1 00 User Manual v0 85 for i 255 i gt 0 i 16 analogWrite MOTORA_IA i analogWrite MOTORB IA i sleep 1 set both motors REVERSE pinMode MOTORA IA OUTPUT digital Write MOTORA IA 0 pinMode MOTORA IB PWM pinMode MOTORB IA OUTPUT digital Write MOTORB IA 0 pinMode MOTORB IB PWM for i 0 1 lt 256 i 16 I analog Write MOTORA IB i analog Write MOTORB IB i sleep 1 j for i 255 1 gt 0 1 16 I analog Write MOTORA IB i analog Write MOTORB IB i sleep 1 j j http Mikronauts com 25 Copyright 2014 William Henning 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning How to Read Analog Distance Sensors The Sharp GP2YOA02YKOF is an excellent infrared distance sensor that uses a SV supply and typically draws only 33mA and can present a new reading every 50ms You can find the data sheet at http www sharpsma com webfm_send 1487 It has a very useful range of 20cm to 150cm and is extremely easy to use There are other sensors in the same family covering 10cm 80cm and even 100cm 500cm but neither are as useful as the 20cm 150cm GP2Y0A02YKOF Please note that the
15. ht 2014 William Henning C RoboPiLib Constants Digital pins can be configured for one of the following four modes 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 C RoboPiLib Functions void RoboPilnit char device int bps use RoboPilnit dev ttyAMAO0 115200 void RoboPiExit close the serial connection with RoboPi int readMode int pin returns INPUT OUTPUT SERVO PWM void pinMode int pin int mode set pin to one of INPUT OUTPUT SERVO PWM int digitalRead int pin returns 0 or I state of pin void digitalWrite int pin int val sets pin to 0 or I int analogRead int chan returns 0 1023 from specified channel int analogReadRaw int pin returns 0 4095 from specified channel void analogWrite int pin int val write 0 255 to PWM pin off to full on int servoRead int pin return last servo value written to pin void servoWrite int pin int val set servo on pin to val 0 2500 us int readDistance int pin return distance to nearest object in milimeters getPacket putPacket for advanced users only requires modifying RoboPi firmare int putPacket char c char bf int In send a custom packet to RoboPi int getPacket char c char bf int In receive response to custom packet sent to RoboPi In your program include RoboPiLib h and add RoboPiLib o to your command line as follows gcc o myprog myprog c RoboPi
16. in direction specified by A or B Note Some motors have an active low input in which case 0 enables the motor and 1 coasts Check the data sheet for your motor controller or motor controller chip for details AB Function 00 Break 0 I Rotate in one direction 1 0 Rotate in opposite direction 1 1 Break http Mikronauts com 21 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning A B Two Wire interface For two wire drivers use digitalWrite to set the direction you are NOT going in to 0 then use analogWrite to control the motor speed using pulse width modulation for the direction you want the motor to turn Please note that the minimum speed will likely be higher for two wire motors and different for different motors The inexpensive low current L9110S h bridge is one example of a two wire A B interface however many L293D and L298 boards tie EN high to effectively become two pin drivers Function Break Rotate in one direction Rotate in opposite direction Break 0900 p or op EN DIR PWM Three Wire Driver Some motor drivers will have an EN signal but use extra logic to to use one pin as motor direction and another as a PWM input to control the motor speed For these drivers use digitalWrite to set the enable and direction pins then use analogWrite to control the motor speed using pulse width modulation Please note that the minimum speed will be different for different motors
17. lt files downloads P8X32A Propeller Datasheet v1 4 0 O pdf http www parallax com sites default files downloads P8X32A Web PropellerManual v1 2 pdf http wwl microchip com downloads en DeviceDoc 21298c pdf http wwl microchip com downloads en DeviceDoc 21754M pdf You can find the data sheets for the listed Digikey part numbers at Digikey com by typing in the part number and clicking on the pdf icon on the resulting page Appendix C Support For Raspberry Pi support including Raspbian please see the Raspberry Pi forums at http www raspberrypi org forum For Parallax Propeller support see the Parallax forum at http forums parallax com forumdisplay php 65 Propeller 1 Multicore Microcontroller For RoboPi support please visit the RoboPi thread in the Propeller forum at http forums parallax com showthread php 153275 Propeller add on for Raspberry Pi RoboPi the most advanced robot controller for Pi or the new Mikronauts forums http forums mikronauts com http Mikronauts com 29 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Appendix D RoboProp Software Compatibility e use the supplied 6 250Mhz crystal for 100Mhz operation use 24LC512 EEPROM use MCP3208 While there is no motor driver on RoboPi if you connect a two channel motor controller as follows it will be RoboProp compatible Tie EN1 2 and EN3 4 high P8 to IN1 e P9 to IN2 e P10 to IN3 e PII to IN4 If y
18. ng at 100Mhz e Each of the eight cores provides up to 25MIPS as most instructions take only 4 clock cycles e three ten pin Mikronauts I O module expansion connectors P0 P7 P8 P15 P16 P23 e 24 servo compatible headers on P0 P23 o P0 P7 jumper selectable power from Pi s 5VDC supply or external servo power supply o P8 P15 jumper selectable power from Pi s SVDC supply or external servo power supply o P16 P23 is powered by SV from the Pi expansion header for sensors e Screw terminal for providing external power for Servo connectors PO P15 e 8 servo compatible headers for an eight channel 0 5V analog to digital converter with choice of o MCP3008 for 10 bit A D conversion MCP3208 for 12 bit A D conversion e Choice of 256Kbit or 512Kbit boot EEPROM for the Propeller e On board voltage regulation providing 3 3V with power on LED from the 5V on the Pi header e 4 pin I2C expansion header for the Raspberry Pi e 4 pin I2C expansion header for the Propeller e 5 pin HCOM connector for use with PropPlug in stand alone operation optional e Mikronauts EZasPi prototyping board can stack below RoboPi e Mikronauts Pi Jumper can stack on top of RoboPi e Mikronauts SchoolBoard and other Propeller products are compatible with RoboPi http Mikronauts com 4 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning RoboPi Printed Circuit Board R28 Ooo ROPPLUG P FA 0600 l2cr 18 bttp Mikronauts com enning
19. ou want to have a uSD card compatible with RoboProp attach it as follows e P12 to MISO P13 to MOSI e P14to CLK e P15 to CS http Mikronauts com 30 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Appendix E Frequently Asked Questions Q Where can we buy RoboPi A Currently you can buy RoboPi Directly from us please email us at mikronauts gmail com with desired quantity and postal address we will be happy to send you a quote We accept PayPal from verified buyers From our Ebay store please visit us at out Mikronauts Ebay store lt add actual URL gt Distributors and dealers are welcome to contact us for quantity discounts we would love to have you on board Q Are quantity and educational discounts available for RoboPi A Yes We are happy to offer quantity based discounts to our educational users and distributors Please contact us for a custom quote Q Can we make our own RoboPi printed circuit boards A I am afraid not While RoboPi is an open platform in that it is fully documented with source code available for its libraries and demo applications RoboPi is a commercial product and may not be copied Q Can we use the less expensive MCP3008 10 bit analog to digical converter instead of the MCP3208 A Yes you can but the driver needs to be modified and the RoboPi libraries and demonstration programs assume that an MCP3208 is used We intend to offer a merged MC
20. pin servo connectors for pins used by a 10 pin module PI I2C Header For using 3v3 I2C expansion modules with RoboPi PROP I2C Header For using 3v3 I2C expansion modules with the Raspberry Pi PROPPLUG Header e For programming RoboPi when it is not mounted on a Raspberry Pi Intended for stand alone RoboPi applications DO NOT USE WHEN MOUNTED ON A RASPBERRY PI http Mikronauts com 7 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Using RoboPi with the Raspberry Pi Downloading amp Installing Raspbian Debian for the Pi If you already have Raspbian running on your Raspberry Pi you can skip to Step 4 Installing Raspbian on your Raspberry Pi is required before you can use and control RoboPi with your Raspberry Pi The Raspberry Pi Foundation has made this easy by providing downloadable images of the Raspbian operating system with instructions for using PC s Mac s and Linux computers to make a bootable Raspbian SD card Step 1 Get a compatible Class 10 speed SD card 8GB 32GB in size You can find a database of SD cards that are known to work with the Raspberry Pi at http elinux org RPi_SD_cards Other SD cards are likely to work as well I suggest Class 10 for speed Step 2 Download the latest Raspbian image You can find the latest version of Raspbian at http www raspberrypi org downloads Step 3 Install Raspbian The Raspberry Pi foundation provides excellent instruction
21. rvoRead pin value readDistance int pin delay ms delayMicroseconds us User Manual v0 85 Copyright 2014 William Henning pin mode for a digital input pin mode for a digital output pin mode for a PWM output 0 255 pin mode for a servo output 0 2500 Initialize RoboPiObj start service cogs set digital pin to specified mode read current mode of digital pin read current value 0 or 1 at pin regardless of mode write 0 or 1 to digital pin read analog input channel scale to 0 1023 return value read analog input channel return raw 0 4095 value write PWM value to pin 0 is off 255 is fully on write servo position to pin 0 to 2500 microseconds return last servo position written to pin return distance to nearest object in milimeters delay for ms milliseconds delay for us microseconds RoboPiObj Resource Utilization RoboPiObj currently uses 4944 bytes of EEPROM RAM and two cogs for drivers ADC INPUT DRIVER PWM 32 v4 http Mikronauts com MCP3208 driver object PWM Servo driver object 16 2014 01 27 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 lt insert schematic of two bumper switches 100k pullup to 5v shorts to ground when closed gt include lt stdio h gt include RoboPiLib h define LEFT BUMPER 22 define RIGHT BUMPER 23 define PRESSED 0 int main int arg
22. rvrrsensessrssennn 9 Step 5 Installing Robor l Ib es ee 10 Step 6 Installing the RoboPi Firmware ae 10 Step 7 Installing SimpleIDE for the Raspberry Pi OPTIONAIL u 0ssseneennennnn 10 Introducing ROT AD cs vc een 11 Python Robolib Osen 13 Python Robo Pili Funelions ana a 13 C RobopPiLib Conan nenne 14 Er TN NRS 14 Using RoboPi without a Raspberry Pi stand alone operation srrrrrrrsrvrrrrrrrrrrnrrrrrrerrrrrerrrrrrrrernernnnnr 15 Installing SimpleIDE on PC Mac Linux for stand alone RoboPi use reanrrrnerrnenvnenernrnenrnrnerrrneneneenn 15 brodere ROPE nel 15 RoboPiObj Eon an eier naeh 16 R DE Melve 16 RoboPiObj Resource tilization asus naeh 16 How touse Der alpinen 17 Reading Bumper Swiiehes era 17 How to use Digital Dip EE rer ener re renerne renerne rer srnnee 18 Using LED s to show which bumper is presse jentene 18 How touse Analog INPUTS aaa au 19 Reading a Polentiomeler eee 19 Reading a CdS Photocell light sensor 19 Reading SirMorph short range distance line SeNSOT cccceeseesceeseceseeeeeeceeeeeseceeeceeaeeeeeeeeeeeaas 19 HOW to use BEVOR ee ee ee aeg 20 http Mikronauts com 2 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Controlling Continuous Rotation Er end n ennen ere nnnee 20 Controlling a Standard Swan arena 20 How to use PWM to control Gear Motors es ee een 21 EN AB TND 21 A B Two Wire TMT ACE ea NE ae rese ole aa E EENEN
23. s on how to make a bootable Raspbian SD card for your Raspberry Pi with your PC Mac Linux computer at http www raspberrypi org documentation installation installing images README md http Mikronauts com 8 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Step 4 Using the Raspberry Pi serial port with RoboPi The Raspberry Pi has 3 3V serial RX and TX signals available on its 26 pin header Normally this port is configured to display boot messages after which it becomes a serial console My favorite small text editor is joe which you can install with sudo apt get install joe then sudo joe boot cmdline txt remove console ttyAMAO 115200 kgdboc ttyAMAO 115200 sudo joe etc inittab Find the line T0 23 respawn sbin getty L ttyAMAO 115200 vt100 and insert a in front of T0 23 For the changes to take effect type sudo shutdown now r http Mikronauts com 9 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Step 5 Installing RoboPiLib Download the latest version of RoboPiLib zip from the RoboPi product page at http www mikronauts com raspberry pi robopi Step 6 Installing the RoboPi Firmware Download the latest version of RoboPiObj zip from the RoboPi product page at http www mikronauts com raspberry pi robopi You will also need to download the latest version of propeller_load zip from the product page Step 7 Installing Simpl
24. tp Mikronauts com 11 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning http Mikronauts com 12 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyright 2014 William Henning Python RoboLib Constants Digital pins can be configured for one of the following four modes 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 Python RoboPiLib Functions RoboPilnit device bps use RoboPilnit dev ttyAMAO0 115200 RoboPiExit close the serial connection with RoboPi readMode pin returns int returns INPUT OUTPUT SERVO PWM pinMode pin mode set pin to one of INPUT OUTPUT SERVO PWM digitalRead pin returns int returns 0 or 1 state of pin digital Write pin val sets pin to 0 or I analogRead chan returns int returns 0 1023 from specified channel analogReadRaw pin returns int returns 0 4095 from specified channel analogWrite pin val write 0 255 to PWM pin off to full on servoRead pin returns int return last servo value written to pin servoWrite pin val set servo on pin to val 0 2500 us readDistance int pin returns int return distance to nearest object in milimeters In your program include the following at the top import RoboPiLib as RoboPi See the example on the previous page to see how to use the Python interface http Mikronauts com 13 2014 01 27 RoboPi v1 00 User Manual v0 85 Copyrig
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