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README.txt
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README.txt
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This is the qBot library, it contains pin allocations and some predefined functions to make the qBot - Arduino project work.
The qBot library requires the following libraries installed, they are included in this zip-file. Make sure to move or copy the support libraries to the "libraries" directory:
"Adafruit_GFX" - Library manager
"Adafruit_SSD1306" - Library manager
"I2Cdev" - Library manager? possibly online, find link
"MPU6050" - Library manager? possibly online, find link
"NewPing" - Library manager? possibly online, find link
Please have a look at www.qbot.no for more information about projects, how to build it and so on.The qBot has the following sensors on board:
- Sonic distance sensor - HC-SR04
- Reed switch
- 6 axis IMU, accelerometer and gyroscope. The chip is named MPU6050
- 2 x pushbuttons
- 3 x IR-reflective sensors - two facing down, one facing forward.
Additional features:
- H-bridge motor controller
- 0.96" OLED screen - 128x64 pixles
- NRF24L01+ RF-transciever - not supported in the qBot library yet, can be used with separate code. See "Trollbot" on github. CE = 8, CS = 10. Otherwise use SPI pins on the Arduino Micro.
qBot sensor variable names, all are updated by calling the "updateSensors()" function:
unsigned short reflVals[3]; // values from the three IR reflective sensors
unsigned short lightVal; // value from the light sensor
bool reedVal; // state of the reed switch (true/false)
bool buttonVals[2]; // state of the buttons (true/false)
unsigned short ax, ay, az; // accelerometer values
unsigned short gx, gy, gz; // gyroscope values
unsigned short distVal; // measurement from distance sensor in cm
qBot sensor pin names, sensors can be read manually by calling for example analogRead(qBot.reflSens[0]):
const char reflSens[3]; // can be read digital or analog
const char lightSens; // can be read digital or analog
const char reedSensA1; // can be read digital or analog
const char buttons[2]; // Can be attached to interrupt 2 and 3
qBot functions:
QBot(); // constructor
void start(); // run in the setup loop
void updateSensors(); // updates all sensor values
void printSensors(); // Serial print of all sensor values
void oledWrite(int x, int y, String message); // write something on the OLED screen in position (x, y). (0, 0) is in the top left of the screen.
void clearOled(); // empty the OLED screen
// Motor control functions, fairly self-explanatory
void motor1(int speed /*-255 : 255*/); // control the two motors individually, by changing the sign of the speed variable you change the motor direction.
void motor2(int speed /*-255 : 255*/);
void motorStop();