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Raspberry Pi RoboPi User Manual

Other manuals for RoboPi: User Manual

Summary of RoboPi

  • Page 1

    Robopi v1.00 user manual v0.60 copyright 2014 william henning using robopi copyright 2014 william henning robopi user manual v0.60 photo 1: 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...

  • Page 2: Table Of Contents

    Robopi v1.00 user manual v0.60 copyright 2014 william henning table of contents introduction................................................................................................................................................3 robopi printed circuit board.....................................

  • Page 3: Introduction

    Robopi v1.00 user manual v0.60 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...

  • Page 4

    Robopi v1.00 user manual v0.60 copyright 2014 william henning robopi printed circuit board here is a top view of where parts are located on the robopi printed circuit board: you can refer to this image while wiring your robot after assembling your robopi. Please note the “propplug” connection is for...

  • Page 5

    Robopi v1.00 user manual v0.60 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 1 – servo 8 • 10 pin exp1...

  • Page 6

    Robopi v1.00 user manual v0.60 copyright 2014 william henning programming robopi with robopilib 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 ...

  • Page 7

    Robopi v1.00 user manual v0.60 copyright 2014 william henning 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..2...

  • Page 8

    Robopi v1.00 user manual v0.60 copyright 2014 william henning programming robopi with robopiobj 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 initi...

  • Page 9

    Robopi v1.00 user manual v0.60 copyright 2014 william henning how to use digital inputs reading bumper switches probably the simplest digital input possible is a switch. #include “stdio.H” #include “robopilib.H” #define left_bumper 0 #define right_bumper 1 #define pressed 0 int main(int argc, char *...

  • Page 10

    Robopi v1.00 user manual v0.60 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 #include “stdio.H” #include “robopilib.H” #define left_bumper 0 #define right_bumper 1...

  • Page 11: How To Use Servos

    Robopi v1.00 user manual v0.60 copyright 2014 william henning how to use servos #include “stdio.H” #include “robopilib.H” #define left_servo 8 #define right_servo 9 #define servo_min 500 // may vary between different servos #define servo_max 2500 // may vary between different servos int main(int arg...

  • Page 12

    Robopi v1.00 user manual v0.60 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 c...

  • Page 13

    Robopi v1.00 user manual v0.60 copyright 2014 william henning 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. Dir/pwm two wire driver other motor drivers use extra...

  • Page 14

    Robopi v1.00 user manual v0.60 copyright 2014 william henning reading analog distance sensors the sharp gp2y0a02yk0f is an excellent infrared distance sensor that uses a 5v supply and typically draws only 33ma and can present a new reading every 50ms. You can find the data sheet at: http://www.Sharp...

  • Page 15

    Robopi v1.00 user manual v0.60 copyright 2014 william henning reading digital ultrasonic range sensors the initial release of the robopi firmware does not support ultrasonic range sensors. We are currently working on an addition to the robopi api that will allow using any of the following three sens...

  • Page 16: Stand-Alone Operation

    Robopi v1.00 user manual v0.60 copyright 2014 william henning stand-alone operation supply 5v to robopi via one of: • pins 2 & 4 of the 2x13 pin pi header • “pi5v” terminal of power selection header sv2 or sv3 supply gnd to robopi via one of: • pins 9 & 14 of the pi header • gnd terminal of the exte...

  • Page 17: Appendix A: Software

    Robopi v1.00 user manual v0.60 copyright 2014 william henning appendix a: software • raspbian wheezy or later • simpleide 0.8.4 or later • propeller-load3 or later • robopi api v1.0 or later • robopilib v1.0 or later appendix b: data sheets http://www.Parallax.Com/sites/default/files/downloads/p8x32...

  • Page 18

    Robopi v1.00 user manual v0.60 copyright 2014 william henning appendix d: roboprop software compatibility: • 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...

  • Page 19

    Robopi v1.00 user manual v0.60 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....