https://github.com/roboticsbrno/rb3204-rbcx-library
RBCX library for main controller ESP32
https://github.com/roboticsbrno/rb3204-rbcx-library
esp32 library motor rbcx servo smart-servos
Last synced: 5 months ago
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RBCX library for main controller ESP32
- Host: GitHub
- URL: https://github.com/roboticsbrno/rb3204-rbcx-library
- Owner: RoboticsBrno
- License: mit
- Created: 2020-05-24T14:28:03.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2024-03-12T19:24:16.000Z (over 1 year ago)
- Last Synced: 2025-04-30T05:09:35.907Z (5 months ago)
- Topics: esp32, library, motor, rbcx, servo, smart-servos
- Language: C++
- Homepage: https://roboticsbrno.github.io/RB3204-RBCX-library/
- Size: 976 KB
- Stars: 4
- Watchers: 7
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# RB3204-RBCX-library
Library for board [RB3204-RBCX](https://github.com/RoboticsBrno/RB3204-RBCX) based on ESP32.
[Library documentation](https://roboticsbrno.github.io/RB3204-RBCX-library/).
Arduino compatible.
## Example
```cpp
#include
#include
#include
#include
#include "RBCX.h"
extern "C" void app_main() {
// Initialize the robot manager
auto& man = rb::Manager::get();
man.install();
// Set motor power limits
man.setMotors()
.pwmMaxPercent(0, 70) // left wheel
.pwmMaxPercent(1, 70) // right wheel
.pwmMaxPercent(2, 28) // turret left/right
.pwmMaxPercent(3, 45) // turret up/down
.set();
man.leds().yellow(); // Turn the yellow led on
//man.piezo().setTune(444); // start the piezo
int i = 0;
const auto& bat = man.battery();
while(true) {
vTaskDelay(1000 / portTICK_PERIOD_MS);
printf("Tick #%d, battery at %d%%, %dmv\n", i++, bat.pct(), bat.voltageMv());
}
}
```
## Testing the library during development
When you want to test the library, when you making some change in the library, use command `pio ci` in the command line/shell:
```sh
pio ci --lib="." -C "platformio.ini" examples/motors
```
For testing you can use any project in the folder `examples`. Just replace the `examples/motors` with some other project.