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RoboPi v1.00
C RoboPiLib Constants
Digital pins can be configured for one of the following four modes:
INPUT
OUTPUT
PWM
SERVO
C RoboPiLib Functions
void
RoboPiInit(char *device, int bps)
void
RoboPiExit()
int
readMode(int pin)
void
pinMode(int pin, int mode)
int
digitalRead(int pin)
void
digitalWrite(int pin, int val)
int
analogRead(int chan)
int
analogReadRaw(int pin)
void
analogWrite(int pin, int val)
int
servoRead(int pin)
void
servoWrite(int pin, int val)
int
readDistance(int pin)
getPacket/putPacket for advanced users only - requires modifying RoboPi firmare
int
putPacket(char c, char *bf, int ln)
int
getPacket(char *c, char *bf, int *ln) 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 RoboPiLib.o
http://Mikronauts.com
User Manual v0.85
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)
use RoboPiInit("/dev/ttyAMA0",115200)
close the serial connection with RoboPi
returns INPUT/OUTPUT/SERVO/PWM
set pin to one of INPUT/OUTPUT/SERVO/PWM
returns 0 or 1 state of pin
sets pin to 0 or 1
returns 0..1023 from specified channel
returns 0..4095 from specified channel
write 0..255 to PWM pin (off to full on)
return last servo value written to pin
set servo on pin to val (0..2500 us)
return distance to nearest object in milimeters
send a custom packet to RoboPi
Copyright 2014 William Henning
14
2014-01-27
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