Pololu3piPlus32U4 Namespace Reference

Top-level namespace for the Pololu3piPlus32U4 library. More...

Classes
class	BumpSensors
	Gets readings from the two bump sensors on the front of the 3pi+ 32U4. More...
class	ButtonA
	Interfaces with button A on the 3pi+ 32U4. More...
class	ButtonB
	Interfaces with button B on the 3pi+ 32U4. More...
class	ButtonC
	Interfaces with button C on the 3pi+ 32U4. More...
class	Buzzer
	Plays beeps and music on the buzzer on the 3pi+ 32U4. More...
class	Encoders
	Reads counts from the encoders on the 3pi+ 32U4. More...
class	IMU
	Interfaces with the inertial sensors on the 3pi+ 32U4. More...
class	LCD
	Writes data to the LCD on the 3pi+ 32U4. More...
class	LineSensors
	Gets readings from the five reflectance sensors on the bottom of the 3pi+ 32U4. More...
class	Motors
	Controls motor speed and direction on the 3pi+ 32U4. More...
class	OLEDCore
	Low-level functions for writing data to the SH1106 OLED on the Pololu 3pi+ 32U4 OLED robot. More...
class	OLED
	Makes it easy to show text and graphics on the SH1106 OLED of the Pololu 3pi+ 32U4 OLED robot. More...

Enumerations
enum	BumpSide { BumpLeft = 0 , BumpRight = 1 }
	Bump sensor sides. More...
enum class	IMUType : uint8_t { Unknown , LSM6DS33_LIS3MDL }
	The type of the inertial sensors. More...
enum class	LineSensorsReadMode : uint8_t { Off , On , Manual }
	Emitter behavior when taking readings. More...

Functions
void	ledRed (bool on)
	Turns the red user LED (RX) on or off. More...
void	ledYellow (bool on)
	Turns the yellow user LED on pin 13 on or off. More...
void	ledGreen (bool on)
	Turns the green user LED (TX) on or off. More...
bool	usbPowerPresent ()
	Returns true if USB power is detected. More...
uint16_t	readBatteryMillivolts ()
	Reads the battery voltage and returns it in millivolts. More...
	ISR (PCINT0_vect)
static void	rightISR ()

Variables
static volatile bool	lastLeftA
static volatile bool	lastLeftB
static volatile bool	lastRightA
static volatile bool	lastRightB
static volatile bool	errorLeft
static volatile bool	errorRight
static volatile uint16_t	countLeft
static volatile uint16_t	countRight

Detailed Description

Top-level namespace for the Pololu3piPlus32U4 library.

Enumeration Type Documentation

BumpSide

enum Pololu3piPlus32U4::BumpSide

Bump sensor sides.

Enumerator
BumpLeft	Left bump sensor.
BumpRight	Right bump sensor.

Definition at line 13 of file Pololu3piPlus32U4BumpSensors.h.

IMUType

enum Pololu3piPlus32U4::IMUType : uint8_t

strong

The type of the inertial sensors.

Enumerator
Unknown	Unknown or unrecognized.
LSM6DS33_LIS3MDL	LSM6DS33 gyro + accelerometer, LIS3MDL magnetometer.

Definition at line 43 of file Pololu3piPlus32U4IMU_declaration.h.

LineSensorsReadMode

enum Pololu3piPlus32U4::LineSensorsReadMode : uint8_t

strong

Emitter behavior when taking readings.

Enumerator
Off	Each reading is made without turning on the infrared (IR) emitters. The reading represents ambient light levels near the sensor.
On	Each reading is made with the emitters on. The reading is a measure of reflectance.
Manual	Calling read() with this mode prevents it from automatically controlling the emitters: they are left in their existing states, which allows manual control of the emitters for testing and advanced use. Calibrating and obtaining calibrated readings are not supported with this mode.

Definition at line 14 of file Pololu3piPlus32U4LineSensors.h.

Function Documentation

ledGreen()

void Pololu3piPlus32U4::ledGreen ( bool  on )

inline

Turns the green user LED (TX) on or off.

Parameters

on	A value of 1 turns on the LED; 0 turns it off.

The green user LED is pin PD5, which is also known as TXLED. The Arduino core code uses this LED to indicate when it receives data over USB, so it might be hard to control this LED when USB is connected.

Definition at line 59 of file Pololu3piPlus32U4.h.

ledRed()

void Pololu3piPlus32U4::ledRed ( bool  on )

inline

Turns the red user LED (RX) on or off.

Parameters

on	A value of 1 turns on the LED; 0 turns it off.

The red user LED is on pin 17, which is also known as PB0, SS, and RXLED. The Arduino core code uses this LED to indicate when it receives data over USB, so it might be hard to control this LED when USB is connected.

Definition at line 39 of file Pololu3piPlus32U4.h.

ledYellow()

void Pololu3piPlus32U4::ledYellow ( bool  on )

inline

Turns the yellow user LED on pin 13 on or off.

Parameters

on	A value of 1 turns on the LED; 0 turns it off.

Definition at line 47 of file Pololu3piPlus32U4.h.

readBatteryMillivolts()

uint16_t Pololu3piPlus32U4::readBatteryMillivolts ( )

inline

Reads the battery voltage and returns it in millivolts.

Definition at line 78 of file Pololu3piPlus32U4.h.

usbPowerPresent()

bool Pololu3piPlus32U4::usbPowerPresent ( )

inline

Returns true if USB power is detected.

This function returns true if power is detected on the board's USB port and returns false otherwise. It uses the ATmega32U4's VBUS line, which is directly connected to the power pin of the USB connector.

See also

A method for detecting whether the board's virtual COM port is open: http://arduino.cc/en/Serial/IfSerial

Definition at line 72 of file Pololu3piPlus32U4.h.