[PDF] TETRIX® PRIZM® and Arduino IDE Reference Guide





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TETRIX® PRIZM® and Arduino IDE Reference Guide

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TETRIX® PRIZM® and Arduino IDE Reference Guide

Understanding common PRIZM commands and

functions in the

Arduino Software (IDE)

Content creation by Aaron Locke.

Desktop publishing by Todd McGeorge.

©2018 Pitsco, Inc., 915 E. Jefferson, Pittsburg, KS 66762

All rights reserved. This product and related documentation are protected by copyright and are distributed under licenses restricting their

use, copying, and distribution. No part of this product or related documentation may be reproduced in any form by any means without

prior written authorization of Pitsco, Inc. All other product names mentioned herein might be the trademarks of their respective owners.V1.0 06/18

Table of Contents

PRIZM Controller Commands

LED Commands

......3

PRIZM Status Commands

DC Motor Commands

DC Motor Encoder Commands

Servo Commands

Sensor Commands

Logic Commands

Loop Commands

Variable Commands

Function Commands

Time Commands

.19

Serial Monitor Commands

CommandSyntaxPurposeLocation in Sketch

Include the PRIZM library#include • Includes the PRIZM library in the sketch so that Arduino can recognize PRIZM functions.• Usually goes before the void setup() command. Instantiate PRIZMPRIZM prizm;• Instantiates the PRIZM object so its functions can be used.• Usually goes before the void setup() command.

PRIZM beginprizm.PrizmBegin(); • Initializes the PRIZM controller.• Usually is one of the first

commands in the void setup() section.

Must come before any prizm.

commands. PRIZM endprizm.PrizmEnd(); • Terminates the program running on PRIZM and resets the PRIZM controller.• Usually is found somewhere in the main loop to stop the program.

At times it might be necessary to

have this command in the void setup() section.

For example, in the void setup()

section, you could read the battery voltage, and if it is too low, you could stop the program before it has a chance to do anything else. This sketch shows the proper use and placement of the PRIZM controller commands. PRIZM Controller CommandsTETRIX PRIZM and Arduino IDE Reference Guide 2

CommandSyntaxPurposeLocation in Sketch

Turn on red LEDprizm.setRedLED(HIGH);• Turn on PRIZM"s red LED• Usually, LED control commands are found in the void loop() section of a sketch.

In some situations, they could be

used in the void setup() section before the sketch enters the main loop.Turn off red LEDprizm.setRedLED(LOW);• Turn off PRIZM"s red LED Turn on green LEDprizm.setGreenLED(HIGH);• Turn on PRIZM"s green LED Turn off green LEDprizm.setGreenLED(LOW);• Turn off PRIZM"s green LED This sketch shows how the LED commands can be used to manipulate PRIZM"s red and green LEDs.

CommandSyntaxPurposeLocation in Sketch

Read the state of PRIZM"s

Start buttonprizm.readStartButton();• Determines if PRIZM"s green Start button is pressed or not.

Returns an integer value of 1 if

pressed and 0 if not pressed.• Can be used anywhere in a sketch.

Read the voltage of

the battery attached to PRIZMprizm.readBatteryVoltage();• Determines the voltage of the battery attached to PRIZM.

Returns an integer value

(ex: 915 = 9.15 volts).• Can be used anywhere in a sketch.

Although this is not a full sketch, these example statements show how the battery voltage and Start button commands can be used.

LED and PRIZM Status CommandsTETRIX PRIZM and Arduino IDE Reference Guide 3

CommandSyntaxPurposeLocation in

Sketch

Set DC motor powerprizm.setMotorPower(motor#, power); motor# = 1 or 2 power = -100 to 100 or 125• Sets the power and direction of a specified motor to make it rotate at a certain rate.

Range is from -100 to 100.

Value of 0 indicates a coasting

stop.

Value of 125 indicates a hard-

braking stop.

Negative values reverse the

direction.• Usually found in the void loop() section of a sketch.

Often found in

called functions.

Set all DC motor powers

simultaneouslyprizm.setMotorPowers(power1, power2); power = -100 to 100 or 125• Sets the power and direction of both motors to make them rotate at a certain rate.

Range is from -100 to 100.

Value of 0 indicates a coasting

stop.

Value of 125 indicates a hard-

braking stop.

Negative values reverse the

direction.• Usually found in the void loop() section of a sketch.

Often found in

called functions.

Invert motor direction

prizm.setMotorInvert( motor# , 1); motor# = 1 or 2• Inverts the rotation of the specified motor.

Is used when two motors oppose

each other so that positive power values cause the same direction of motion.

Value of 1 indicates invert while 0

indicates no invert.• Usually found in the void setup() section of a sketch.

This sketch uses DC motor commands to move a robot forward, pivot a robot, and stop a robot using different motor power levels.

DC Motor CommandsTETRIX PRIZM and Arduino IDE Reference Guide 4

CommandSyntaxPurposeLocation in

Sketch

Set the rotational speed

of a DC motorprizm.setMotorSpeed(motor#, speed); motor# = 1 or 2 speed = -720 to 720 TorqueNADO accuracy: -630 to 630• Precisely sets the speed of a motor in degrees per second.

Max speed is 720

degrees per second, or

2 rps.

For TorqueNADO®, a

more accurate range is -630 to 630 degrees per second.

Rotational speed will be

constant no matter the battery voltage.• Usually found in the void loop() section of a sketch.

Often found

in called functions.

Set the rotational speeds

of both DC motors simultaneouslyprizm.setMotorSpeeds(speed1, speed2); speed = -720 to 720 TorqueNADO accuracy: -630 to 630• Precisely sets the speeds of both motors in degrees per second.

Max speed is 720

degrees per second, or

2 rps.

For TorqueNADO, a more

accurate range is -630 to

630 degrees per second.

Rotational speed will be

constant no matter the battery voltage.• Usually found in the void loop() section of a sketch.

Often found

in called functions.

Set a DC motor to a

target position at a designated speedprizm.setMotorTarget(motor#, speed, target); motor# = 1 or 2 speed = -720 to 720 target = -2147483648 to 2147483647• Tells a motor to rotate a designated count at a designated speed and then stop in a holding position.

Each count represents

1/4 of a degree.

Maximum rotation is

2,147,483,647 counts,

which is 536,870,912 degrees or 1,491,308 rotations.• Usually found in the void loop() section of a sketch.

Often found

in called functions.

Set both DC motors

to target positions simultaneously at designated speedsprizm.setMotorTargets(speed1, target1, speed2, target2); speed = -720 to 720 target = -2147483648 to 2147483647• Tells both motors to rotate designated counts at designated speeds and then stop in a holding position.

Each count represents

1/4 of a degree.

Maximum rotation is

2,147,483,647 counts,

which is 536,870,912 degrees or 1,491,308 rotations.• Usually found in the void loop() section of a sketch.

Often found

in called functions. DC Motor Encoder CommandsTETRIX PRIZM and Arduino IDE Reference Guide 5

DC Motor Encoder Commands

CommandSyntaxPurposeLocation in

Sketch

Rotate a DC motor a

designated number of degrees at a designated speedprizm.setMotorDegree(motor#, speed, degrees); motor# = 1 or 2 speed = -720 to 720 degrees = -536870912 to 536870911• Tells a motor to rotate a designated number of degrees at a designated speed and then stop in a holding position.

Maximum rotation is

536,870,911 degrees,

which is 1,491,308 rotations.• Usually found in the void loop() section of a sketch.

Often found in

called functions.

Rotate both DC motors

a designated number of degrees at designated speedsprizm.setMotorDegrees(speed1, degrees1, speed2, degrees2 speed = -720 to 720 degrees = -536870912 to 536870911• Tells both motors to rotate designated numbers of degrees at designated speeds and then stop in a holding position.

Maximum rotation is

536,870,911 degrees,

which is 1,491,308 rotations.• Usually found in the void loop() section of a sketch.

Often found in

called functions.

Read motor busy status

prizm.readMotorBusy( motor# motor# = 1 or 2• Determines if a motor is busy carrying out a motor positioning task from another command.

Can be used to keep a

program from moving to the next command until a motor is finished carrying out the previous positioning task.

Will return 1 for busy or 0

for hold position.

Eliminates the need to

use a delay() command to wait for the motor to complete its task.• Usually found in the void loop() section of aquotesdbs_dbs50.pdfusesText_50
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