X4 software update. Early access
Been working on software improvements for RoboBoard X4.
Until full integration, documenation and examples are released, providing a way to test these updates for most impatient ones.
New version of totem-bsp package includes support for all RoboBoard X4 features and can be used as Arduino IDE or PlatformIO library. Now you can compile project with latest (2.0.7) ESP32 Arduino core version.
Installing totem-bsp library
Arduino IDE
- Download ZIP file: totem-bsp-master.zip
- Install trough Sketch → Include Library → Add .ZIP Library…
- Inside sketch include totem-bsp library:
#include "totem-bsp.h"
void setup() {
// X4_enableAppControl(); // Uncomment to enable Totem App connect
}
void loop() {
X4.led.toggle();
delay(100);
}
- Use default configuration:
PlatformIO
- Create new PlatformIO project with
Espressif ESP32 Dev Module.
- Inside
platformio.ini include link to totem-bsp library:
[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino
lib_deps = https://github.com/totemmaker/totem-bsp
- Inside
main.cpp include totem-bsp library:
#include <Arduino.h>
#include "totem-bsp.h"
void setup() {
// X4_enableAppControl(); // Uncomment to enable Totem App connect
}
void loop() {
X4.led.toggle();
delay(100);
}
Documentation
While official documentation is getting done - you can find available functions inside header files:
See new changes
Update of X4 API. More refined and includes some conveniences
-
X4.button.isLongPress() to detect long press.
-
X4.button.waitPress() delay until button is pressed.
- Events now include value as parameter:
void eventButton(int state) {
Serial.println(state ? "Button press" : "Button release");
}
void eventFunctionA(int value) {
Serial.print("Value from Totem App: ");
Serial.println(value);
}
void setup() {
Serial.begin(115200);
X4.button.addEvent(eventButton);
X4.functionA.addEvent(eventFunctionA);
}
- More explanatory rgb color function names (
color is removed):
-
X4.rgb.color(255, 255, 255, 255) → X4.rgb.colorARGB(255, 255, 255, 255)
-
X4.rgb.color(255, 255, 255) → X4.rgb.colorRGB(255, 255, 255)
-
X4.rgb.color(255, 0x0) → X4.rgb.colorAHEX(255, 0x0)
-
X4.rgb.color(0x0) → X4.rgb.colorHEX(0x0)
- Color names. More available in ColorList.h
X4.rgb.colorHEX(Color::Orange)X4.rgb.colorHEX(Color::Green)X4.rgb.colorHEX(Color::Lime)
- Access channel with index instead of name.
Now calling X4.rgbA.on() can be done with X4.rgb[0].on().
Convenient to use inside loops:
for (int i=0; i<4; i++) {
X4.rgb[i].colorRGB(rand(), rand(), rand());
}
Old naming X4.rgbA is still available. Going out of index X4.rgb[5] is safe and won’t crash application.
Added accelerometer and gyroscope support
- Now you can read MEMS (renamed to IMU) sensor without additional libraries. Just use included API and it works on both (1.0 and 1.1) board versions.
void loop() {
// Read IMU data and store to variable
auto imu = X4.imu.read();
// Print IMU data
Serial.printf("accel: X:% .2f Y:% .2f Z:% .2f, gyro: X:% 4.0f Y:% 4.0f Z:% 4.0f, temp: %2.2fC\n",
imu.getX_G(), imu.getY_G(), imu.getZ_G(),
imu.getX_dps(), imu.getY_dps(), imu.getZ_dps(),
imu.getTempC()
);
delay(100);
}
output:
accel: X:-0.01 Y: 0.03 Z: 1.01, gyro: X: 0 Y: 2 Z: -0, temp: 42.53C
accel: X:-0.01 Y: 0.03 Z: 1.01, gyro: X: 1 Y: 2 Z: -0, temp: 42.77C
accel: X:-0.01 Y: 0.03 Z: 1.01, gyro: X: 0 Y: 2 Z: -0, temp: 42.53C
accel: X:-0.01 Y: 0.03 Z: 1.02, gyro: X: 1 Y: 2 Z: -0, temp: 42.67C
accel: X:-0.01 Y: 0.03 Z: 1.02, gyro: X: 1 Y: 2 Z: -0, temp: 42.67C
accel: X:-0.01 Y: 0.03 Z: 1.02, gyro: X: 1 Y: 2 Z: -0, temp: 42.63C
accel: X:-0.01 Y: 0.03 Z: 1.02, gyro: X: 1 Y: 2 Z: -0, temp: 42.53C
- Available measurement units:
// Accelerometer. Measures acceleration
float getX_G(); // X G. Gravitational force
float getX_mss(); // X m/s^2. Acceleration in meters per second squared
// Gyroscope. Measures rotation speed
float getX_dps(); // X dps. Degrees per second
float getX_rads(); // X rad/s. Radians per second
float getX_rpm(); // X RPM. Rounds per minute
// IMU sensor internal temperature
float getTempC(); // Celsius
float getTempF(); // Fahrenheit
// orientation (accelerometer based).
float getOrientX(); // X axis [-180:180] degree
float getOrientY(); // Y axis [-180:180] degree
float getRoll(); // roll estimation. [-180:180] degree
float getPitch(); // pitch estimation. [-90:90] degree
TotemBUS (TBUS) improvements
- Sensor data update happens automatically in background and Arduino code only reads cached value, resulting in zero latency code. Data update rate is as fast as module is capable to.
- Removed subscribe
module.event() function. This functionality now works automatically and manual control is no more required.
- Improved events API. Different modules can be handled in a single function.
Module22 m22;
Module15 m15;
void eventModule(int evt) {
if (evt == Module22::evtTemp) Serial.println(m22.getTempC());
if (evt == Module15::evtButtonA) Serial.println("Button A press");
if (evt == Module15::evtButtonB) Serial.println("Button B press");
}
void setup() {
Serial.begin(115200);
m22.addEvent(eventModule);
m15.addEvent(eventModule);
m22.getTempC(); // Get value and register event
m15.getButtonA(); // Get value and register event
m15.getButtonB(); // Get value and register event
}
- Improved modules control API. Instead of sophisticated commands a simple ones used:
-
m11.distance.getMM() → m11.getMM()
-
m14.pos.get() → m14.getPos()
-
m14.color.get() → m14.getColor()
-
m15.knobA.get() → m15.getKnobA()
-
m15.buttonA.isPressed() → m15.getButtonA()
-
m22.colorR.get() → m22.getColorR()
-
m22.IR.get() → m22.getIR()
-
m22.humidity.get() → m22.getHumidity()
-
m22.temp.getC() → m22.getTempC()
- and more…
Scan I2C modules
- A simple code to scan for connected Qwiic / Stemma QT modules:
void eventFoundI2C(int addr) {
// Ignore internal IMU sensor
if (addr == X4.imu.getI2CAddr()) return;
Serial.print("Found: ");
Serial.println(addr, HEX);
}
void loop() {
Serial.println("Scan...");
X4.qwiic.scan(eventFoundI2C);
}
