Raspberry Pi RoboPi Manual de usuario

Using RoboPi

RoboPi User Manual v0.60

Photo 1: Fully assembled RoboPi v1.00

he most up to date documentation will always be available at:

http://www.mikronauts.com/raspberry-pi/robopi/

http://Mikronauts.com 1 2014-01-27

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 hree Wire Driver.................................................................................................................12

A/B wo Wire interface.......................................................................................................................12

EN/DIR/PWM hree Wire Driver.......................................................................................................13

DIR/PWM wo 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

http://Mikronauts.com 2 2014-01-27

Introdu tion

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 odel A

Raspberry Pi

RoboPi can also be stacked on top of

odel B Raspberry Pi's

RoboPi Features

•Parallax Propeller P8X32 eight core 32 bit Risc microcontroller running at 100Mhz

•Each of the eight cores provides up to 25MIPS as most instructions take only 4 clock cycles

•three ten-pin Mikronauts I/O module expansion connectors (P0-P7, P8-P15, P16-P23)

•24 servo compatible headers on P0..P23

◦P0-P7 jumper selectable power from Pi's 5VDC supply or external servo power supply

◦P8-P15 jumper selectable power from Pi's 5VDC supply or external servo power supply

◦P16-P23 is powered by 5V from the Pi expansion header for sensors

•Screw terminal for providing external power for Servo connectors P0-P15

•8 servo compatible headers for an eight channel 0-5V analog to digital converter with choice of

◦MCP3008 for 10 bit A/D conversion

◦MCP3208 for 12 bit A/D conversion

•Choice of 256Kbit or 512Kbit boot EEPROM for the Propeller

•On-board voltage regulation providing 3.3V with power on LED from the 5V on the Pi header

•4 pin I2C expansion header for the Raspberry Pi

•4 pin I2C expansion header for the Propeller

•5 pin HCOM connector for use with PropPlug in stand alone operation (optional)

•Mikronauts EZasPi prototyping board can stack below RoboPi

•Mikronauts Pi Jumper can stack on top of RoboPi

•Mikronauts SchoolBoard ][ and other Propeller products are compatible with RoboPi

http://Mikronauts.com 3 2014-01-27

RoboPi Printed Cir uit 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

he “PROPPLUG” connection is for stand-alone RoboPi operation (where RoboPi is NO 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 sta ked on the Raspberry Pi may damage your

Raspberry Pi and/or RoboPi.

http://Mikronauts.com 4 2014-01-27

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 connector connected directly to processor pins, 3v3 I/O only

•connects to signal pin on SERVO1-8 through a 2k4 current limiting resistor, 5V I/O safe

•For the servo header, SV2 selects between the Pi's 5V 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

•For the servo header, SV3 selects between the Pi's 5V and VBat from the screw terminal

P16-P 3: SENSOR 1 – SENSOR 8

•10 pin EXP3 connector connected directly to processor pins, 3v3 I/O only

•connects to signal pin on SENSOR1-8 through a 2k4 current limiting resistor, 5V I/O safe

•the Pi's 5V is used for SENSOR1-8 to provide cleaner power to Ping's etc

P 4-P 7: SPI port for MCP3008/MCP3 08

•P24 is MISO, connected to DO on ADC through a 2k4 current limiting resistor

•P25 is MOSI

•P26 is CLK

•P27 is /CS

ADC1-ADC8: 0-5V Analog inputs

•connects to the signal pin on ADC1-8 servo style header

•the Pi's 5V is used for ADC1-8 to provide cleaner power to Ping's etc

http://Mikronauts.com 5 2014-01-27

Programming RoboPi with RoboPiLib

Using the Raspberry Pi serial port with RoboPi

he Raspberry Pi has 3.3V serial RX and X 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=ttyAMA0, 115200 kgdboc=ttyAMA0, 115200”

sudo joe /etc/inittab

Find the line

0:23:respawn:/sbin/getty -L ttyAMA0 115200 vt100

and insert a '#' in front of 0:23

For the changes to take effect, type

sudo shutdown now -r

http://Mikronauts.com 6 2014-01-27

RoboPiLib Constants

Digital pins can be configured for one of the following four modes:

INPU pin mode for a digital input

OU PU pin mode for a digital output

PWM pin mode for a PWM output (0..255)

SERVO pin mode for a servo output (0..2500)

RoboPiLib Functions

void RoboPiInit(char *device, int bps) use RoboPiInit(“/dev/ttyAMA0”,115200)

void RoboPiExit() close the serial connection with RoboPi

int readMode(int pin) returns INPU /OU PU /SERVO/PWM

void pinMode(int pin, int mode) set pin to one of INPU /OU PU /SERVO/PWM

int digitalRead(int pin) returns 0 or 1 state of pin

void digitalWrite(int pin, int val) sets pin to 0 or 1

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)

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 7 2014-01-27

Programming RoboPi with RoboPiObj

RoboPiObj Constants

INPU pin mode for a digital input

OU PU 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 Initialize RoboPiObj, start service cogs

pinMode(pin, mode) set digital pin to specified mode

readMode(pin) read current mode of digital pin

digitalRead(pin) read current value (0 or 1) at pin, regardless of mode

digitalWrite(pin) write 0 or 1 to digital pin

analogRead(chan) read analog input channel, scale to 0..1023 return value

analogReadRaw(chan) read analog input channel, return raw 0..4095 value

analogWrite (pin, value) write PWM value to pin, 0 is off, 255 is fully on

servoWrite(pin, value) write servo position to pin , 0 to 2500 microseconds

servoRead(pin, value) return last servo position written to pin

delay(ms) delay for ms milliseconds

delayMicroseconds(us) delay for us microseconds

RoboPiObj Resource Utilization

RoboPiObj uses 4944 bytes of EEPROM/RAM and two cogs for drivers,

ADC_INPU _DRIVER MCP3208 driver object

PWM_32_v4 PWM/Servo driver object

http://Mikronauts.com 8 2014-01-27

How to use Digital Inputs

Reading Bumper Switches

Probably the simplest digital input possible is a switch.

#include “stdio.h”

#include “RoboPiLib.h”

#define LEF _BUMPER 0

#define RIGH _BUMPER 1

#define PRESSED 0

int main(int argc, char *argv[]) {

pinMode(LEF _BUMPER, INPU );

pinMode(RIGH _BUMPER, INPU );

while (1) {

if (digitalRead(LEF _BUMPER)==PRESSED)

puts(“Left Bumper Pressed”);

if (digitalRead(RIGH _BUMPER)==PRESSED)

puts(“Right Bumper Pressed”);

sleep(1); // only check once per second

}

http://Mikronauts.com 9 2014-01-27

How to use Digital Outputs

he 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 LEF _BUMPER 0

#define RIGH _BUMPER 1

#define LEF _LED 2

#define RIGH _LED 3

#define PRESSED 0

int main(int argc, char *argv[]) {

pinMode(LEF _BUMPER, INPU );

pinMode(RIGH _BUMPER, INPU );

pinMode(LEF _LED, OU PU );

pinMode(RIGH _LED, OU PU );

while (1) {

digitalWrite(LEF _LED, ~digitalRead(LEF _BUMPER));

digitalWrite(RIGH _LED, ~digitalRead(RIGH _BUMPER));

}

http://Mikronauts.com 10 2014-01-27

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