Table Of Contents - Raspberry Pi RoboPi User Manual

RoboPi v1.00

Table of Contents

Introduction................................................................................................................................................3
RoboPi Printed Circuit Board....................................................................................................................4
RoboPi I/O Pin Definitions........................................................................................................................5
P0-P7: SERVO 1 - SERVO 8................................................................................................................5
P8-P15: SERVO 9 - SERVO 16............................................................................................................5
P16-P23: SENSOR 1 - SENSOR 8......................................................................................................5
P24-P27: SPI port for MCP3008/MCP3208.........................................................................................5
ADC1-ADC8: 0-5V Analog inputs.......................................................................................................5
Programming RoboPi with RoboPiLib......................................................................................................6
Using the Raspberry Pi serial port with RoboPi....................................................................................6
RoboPiLib Constants.............................................................................................................................7
RoboPiLib Functions.............................................................................................................................7
Programming RoboPi with RoboPiObj......................................................................................................8
RoboPiObj Constants............................................................................................................................8
RoboPiObj Methods..............................................................................................................................8
RoboPiObj Resource Utilization...........................................................................................................8
How to use Digital Inputs..........................................................................................................................9
Reading Bumper Switches....................................................................................................................9
How to use Digital Outputs......................................................................................................................10
Using LED's to show which bumper is pressed..................................................................................10
How to use Servos....................................................................................................................................11
Controlling a Continuous Rotation Servo...........................................................................................11
Controlling a Standard Servo..............................................................................................................11
How to use PWM to control Gear Motors...............................................................................................12
EN/A/B Three Wire Driver.................................................................................................................12
A/B Two Wire interface.......................................................................................................................12
EN/DIR/PWM Three Wire Driver.......................................................................................................13
DIR/PWM Two Wire Driver...............................................................................................................13
Why the ENABLE signal of three wire drivers is useful....................................................................13
Reading Analog Distance Sensors...........................................................................................................14
Reading Digital Ultrasonic Range Sensors..............................................................................................15
Ultrasonic Sensors to be supported:....................................................................................................15
Stand-Alone Operation............................................................................................................................16
Appendix A: Software..............................................................................................................................17
Appendix B: Data Sheets.........................................................................................................................17
Appendix C: Support...............................................................................................................................17
Appendix D: RoboProp Software Compatibility:....................................................................................18
Appendix E: Frequently Asked Questions...............................................................................................19
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User Manual v0.60
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Copyright 2014 William Henning
2014-01-27