Pololu AVR C_C++ Library Users Guide.pdf

Pololu AVR C/C++ Library User's Guide

Guide

1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2. Prerequisites . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3. Downloading and extracting the files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4. Compiling the Pololu AVR Library (Optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

5. Installation of the Pololu AVR Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

6. Example programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

6.a. Example program – AVR Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

6.b. Example program – Linux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.c. Orangutan Analog Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

6.d. Orangutan Buzzer Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

6.e. Orangutan Digital I/O Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.f. Orangutan LCD Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.g. Orangutan LED Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.h. Orangutan Motor Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.i. Orangutan Pushbutton Interface Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

6.j. Orangutan Serial Port Communication Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6.k. Orangutan Servo Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.l. Orangutan SVP Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

6.m. Pololu QTR Sensor Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

6.n. Pololu Wheel Encoder functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7. Using the Pololu AVR Library for your own projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

8. Additional resources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

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Pololu AVR C/C++ Library User's Guide

1. Introduction

This document is a guide to using the Pololu AVR C/C++ library, including installation instructions, tutorials, and example

programs. The Pololu AVR Library makes it easy for you to get started with the following Pololu products:

1. Introduction

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Pololu AVR C/C++ Library User's Guide

Pololu 3pi robot : a mega168/328-based programmable robot. The 3pi robot essentially contains an SV-328

and a 5-sensor version of the QTR-8RC, both of which are in the list below.

Pololu Orangutan SVP-1284 : based on the mega1284, the SVP-1284 is our newest Orangutan robot

controller. It is a super-sized version of the SV-328, with a built-in AVR ISP programmer, more I/O lines,

more regulated power, and more memory. It also features hardware that makes it easy to control up to eight

servos with a single hardware PWM and almost no processor overhead.

Pololu Orangutan SVP-324 : based on the mega324, the SVP-324 is a version of the SVP-1284 with less

memory. The two versions are completely code-compatible (the same code will run on both devices as long

as it’s small enough to fit on the ATmega324PA).

Pololu Orangutan X2 : based on the mega644, the X2 robot controller is the most powerful Orangutan. It

features an auxiliary microcontroller devoted to controlling much of the integrated hardware (it also acts as

a built-in AVR ISP programmer) and high-power motor drivers capable of delivering hundreds of watts.

Pololu Orangutan SV-328 : a full-featured, mega328-based robot controller that includes an LCD display.

The SV-328 runs on an input voltage of 6-13.5V, giving you a wide range of robot power supply options,

and can supply up to 3 A on its regulated 5 V bus. This library also supports the original Orangutan

SV-168 , which was replaced by the SV-328.

Pololu Orangutan LV-168 : a full-featured, mega168-based robot controller that includes an LCD display.

The LV-168 runs on an input voltage of 2-5V, allowing two or three batteries to power a robot.

Pololu Baby Orangutan B-48 : a compact, complete robot controller based on the mega48. The B-48 packs

a voltage regulator, processor, and a two-channel motor-driver into a 24-pin DIP format.

Pololu Baby Orangutan B-328 : a mega328 version of the above. The mega328 offers more memory for

your programs (32 KB flash, 2 KB RAM). This library also supports the Baby Orangutan B-168 , which

was replaced by the Baby B-328.

Pololu QTR-1A and QTR-8A reflectance sensors (analog): an analog sensor containing IR/

phototransistor pairs that allows a robot to detect the difference between shades of color. The QTR sensors

can be used for following lines on the floor, for obstacle or drop-off (stairway) detection, and for various

other applications.

Pololu QTR-1RC and QTR-8RC reflectance sensors (RC): a version of the above that is read using

digital inputs; this is compatible with the Parallax QTI sensors.

1. Introduction

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Pololu AVR C/C++ Library User's Guide

Encoder for Pololu Wheel 42x19 mm : a wheel encoder solution that allows a robot to measure how far it

has traveled.

For detailed information about all of the functions available in the library, see the command

reference [http://www.pololu.com/docs/0J18] .

Note that the library is designed for Atmel’s AVR-based boards like the Orangutans: to use it with the QTR sensors, your

controller must be either an Orangutan or another board built with an ATmega48/168/328P or ATmega324PA/644P/1284P

AVR microcontroller.

This document covers the C/C++ version of the library, but it may also be used with Arduino [http://www.arduino.cc] : a

popular, beginner-friendly programming environment for the mega168/328, using simplified C++ code. See our guide to

using Arduino with Orangutan controllers [http://www.pololu.com/docs/0J17] for more information.

1. Introduction

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Pololu AVR C/C++ Library User's Guide

2. Prerequisites

The free avr-gcc compiler, avr-libc, and other associated tools must be installed before the Pololu AVR library.

Installing the AVR development tools for Windows

For Windows users, these tools are made available as the WinAVR distribution [http://winavr.sourceforge.net/] . We also

recommend the AVR Studio development environment [http://www.atmel.com/avrstudio/] , which may be downloaded free

of charge from Atmel. To load your compiled code onto the Pololu Orangutan or 3pi, we recommend the Pololu USB

AVR Programmer [http://www.pololu.com/catalog/product/1300] , but any AVR ISP programmer will work. If you will be using

a Pololu programmer, follow the installation instructions [http://www.pololu.com/docs/0J36] to install it on your computer,

before continuing with these instructions.

Windows Vista: WinAVR might not work without additional help from this WinAVR and Windows Vista

Guide [http://www.madwizard.org/electronics/articles/winavrvista]

Installing the AVR development tools for Linux

Linux users should install all AVR-related packages available in their distribution’s package manager. In particular, under

Ubuntu you will need to install the following packages:

• avr-libc

• gcc-avr

• avra

• binutils-avr

• avrdude (for use with the Pololu Orangutan Programmer)

2. Prerequisites

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