Programming the MRduino robot with Arduino language .

API functions

• Leds controls :

led() : set led on or off.

ledToggle() : toggle led.

 

• Motors controls :

forward() : move the robot forward.

forwardC() : move the robot forward with control.

back() : move the robot back without control.

backC() : move the robot back with control.

stop() : stop the robot.

turnRight() : turn right the robot.

turnRightC() : turn right the robot with control.

turnLeft() : turn left the robot.

turnLeftC() : turn left the robot with control.

motorRight() : control the right motor.

motorLeft() : control the left motor.

forward_mm() : move the robot forward with millimeter distance.

back_mm() : move the robot back with millimeter distance.

turnRight_degree() : turn right the robot with angle degree.

turnLeft_degree() : turn left the robot with angle degree.

turn_degree() : turn the robot with angle degree.

• Temperature function :

temperature() : read the temperature sensor.

 

• Battery function :

battery() : read the battery voltage.

 

• Firmware function :

firmwareVersion() : return the firmware version (STM32 microcontroller).

 

• Ground sensor function :

groundSensor() : read the ground sensors.

 

• Ambiant light function :

ambiantLight() : read the ambiant light sensors.

 

• Proximity sensors function :

proxSensor() : read the proximity sensors.

 

• Switch :

switch() : read the switch.

 

• IR receiver :

irReceiver() : read the infrared receiver.

 

• Accelerometer :

acceleroX() : read the X axis acceleration.

acceleroY() : read the Y axis acceleration.

acceleroZ() : read the Z axis acceleration.

 

• Encoder :

encoderLeft() : read the encoder left value.

encoderRight() : read the encoder right value.

 

• Robot position :

robotPositionX() : read the robot position, axe X.

robotPositionY() : read the robot position, axe Y.

robotPositionOrientation() : read the robot orientation.

 

• Move :
  

robotGo() : robot go X and Y coordinate.