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--- digispark:tutorials:robot [2016/02/19 19:59]
digistump
+++ digispark:tutorials:robot [2016/06/09 12:03] (current)
@@ Line 56: / Line 56: @@
 Solder the female (non-stackable) headers to your Digispark Pro.
-Assemble the Wings Kits - using the male headers from the BLE, BT, WiFi Kit or extra ones - per the instructions here: http://digistump.com/wiki/digispark/tutorials/wings
+Assemble the Wings Kits - using the male headers from the BLE, BT, WiFi Kit or extra ones - per the instructions here: http://digistump.com/wiki/digispark/tutorials/wings **NOTE** On the Oak the 5V pin is actually for 3.3V
 Assemble the BT, BLE, or WiFi kit (using the correct tutorial for that kit) if applicable - using the included 9 pin stackable headers and the extra 3 pin female header. See the following photos for an example of how it should look with those headers (this is a BT shield, but the BLE and WiFi header setup would be the same):
@@ Line 142: / Line 142: @@
 =====Programming:=====
+**NOTE**: The example included with the Oak is incorrect - please use the Oak example below.
 Copy and upload the following sketch. This sketch will cause the bot to cycle through each of its movement abilities at full speed, 5 seconds each.
-BT, BLE, and WiFi Examples coming shortly with a new IDE release.
+BT, BLE, and WiFi Examples included with the IDE.
+**For the Digispark/Digispark Pro:**
 <code arduino>
 void setup() {
@@ Line 210: / Line 214: @@
  digitalWrite(5, LOW);
  analogWrite(0, 255 - botSpeed);
+ analogWrite(1, botSpeed);
+}
+void botStop(){
+ digitalWrite(2,LOW);
+ digitalWrite(5,LOW);
+ analogWrite(0,0);
+ analogWrite(1,0);
+}
+void botInit(){
+ pinMode(0,OUTPUT);
+ pinMode(1,OUTPUT);
+ pinMode(2,OUTPUT);
+ pinMode(5,OUTPUT);
+}
+</code>
+**For the Oak:**
+<code arduino>
+void setup() {
+  // put your setup code here, to run once:
+  botInit();
+}
+void loop() {
+  // put your main code here, to run repeatedly:
+  botForward(1023); //speed can be any value from 0 (stopped) to 1023 (full)
+  delay(5000);
+  botReverse(1023);
+  delay(5000);
+  botRight(1023);
+  delay(5000);
+  botHardRight(1023);
+  delay(5000);
+  botLeft(1023);
+  delay(5000);
+  botHardLeft(1023);
+  delay(5000);
+  botStop();
+  delay(5000);
+}
+void botForward(int botSpeed){
+ digitalWrite(2, HIGH);
+ digitalWrite(5, HIGH);
+ analogWrite(0, 1023 - botSpeed);
+ analogWrite(1, 1023 - botSpeed);
+}
+void botReverse(int botSpeed){
+ digitalWrite(2, LOW);
+ digitalWrite(5, LOW);
+ analogWrite(0, botSpeed);
+ analogWrite(1, botSpeed);
+}
+void botRight(int botSpeed){
+ digitalWrite(2, LOW);
+ digitalWrite(5, HIGH);
+ analogWrite(0, 0);
+ analogWrite(1, 1023 - botSpeed);
+}
+void botHardRight(int botSpeed){
+ digitalWrite(2, LOW);
+ digitalWrite(5, HIGH);
+ analogWrite(0, botSpeed);
+ analogWrite(1, 1023 - botSpeed);
+}
+void botLeft(int botSpeed){
+ digitalWrite(2, HIGH);
+ digitalWrite(5, LOW);
+ analogWrite(0, 1023 - botSpeed);
+ analogWrite(1, 0);
+}
+void botHardLeft(int botSpeed){
+ digitalWrite(2, HIGH);
+ digitalWrite(5, LOW);
+ analogWrite(0, 1023 - botSpeed);
  analogWrite(1, botSpeed);
 }

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