/Kitronik-Pico-Robotics-Board-C

Primary LanguageCMIT LicenseMIT

Kitronik-Pico-Robotics-Board-C

A class and sample code to use the Kitronik Robotics board for Raspberry Pi Pico. (www.kitronik.co.uk/5329)

This is the C version.

To use edit the main.c file, then build the project, and copy the pico-robotics.uf2 file onto the Pico.

The pico-robotics.uf2 file in the base of this repo is a piece of test code.

Building main.c

  • Edit main.c to include your code
  • Edit the CMakeLists.txt to change the pico-sdk folder location
    • include(/path/to/your/pico-sdk/pico_sdk_init.cmake)
  • Create a new folder called build
  • In your terminal navigate to the build folder
  • Execute the command cmake -DPICO_BOARD=pico .. && make
  • Your project file pico-robotics.uf2 will now be available in the build folder

Import the library and construct an instance:

#include "KitronikPicoRobotics.h"
initPicoRobotics();

This will initialise the PCA to default values.

Drive a motor:

motorOn(motor, direction, speed)

where:

  • motor => 1 to 4
  • direction => f or r
  • speed => 0 to 100

Stop a motor:

motorOff(motor)

where:

  • motor => 1 to 4

Drive a Servo:

servoWrite(servo, degrees)

where:

  • servo => 1 to 8
  • degrees => 0 to 180

Drive a Stepper:

step(stepperMotor, direction, steps)

where:

  • stepperMotor => 1 or 2 (stepper 1 is DC motors 1 and 2, stepper 2 is DC motors 3 and 4)
  • direction => f or r
  • steps => how many steps to make

To step an angle:

stepAngle(stepperMotor, direction, angle)

where

  • stepperMotor => 1 or 2 (stepper 1 is DC motors 1 and 2, stepper 2 is DC motors 3 and 4)
  • direction => f or r
  • angle => how many degrees to move

Troubleshooting

If the code is run without the Pico Robotics board connected, or if the board is not powered up it is likely that the I2C functions in the library will return one of the following errors:

  • PICO_ERROR_GENERIC if the given address was not acknowledged, or there was no device present,
  • Or PICO_ERROR_TIMEOUT if a has timeout occurred.

This is because the Pico tries to communicate with an I2C device which is not responding.