Controlling the Sphero RVR with a rp2040 over serial in CircuitPython using the rvr API.
from sphero_rvr import RVRDrive
rvr = RVRDrive(uart = busio.UART(board.GP4, board.GP5, baudrate=115200)) # rp2040
rvr.drive(speed,heading) # 0-255, -180 to 180
rvr.stop()
rvr.setMotors(left, right) # -255 to 255
rvr.drive_to_position_si(yaw_angle, x, y, speed)
rvr.set_raw_motors(leftMode,left,rightMode,right) # with RawMotorModes.FORWARD or .BACKWARD and int values
rvr.reset_yaw()
rvr.sensor_start()
rvr.get_x()
rvr.get_y()
rvr.get_heading()
rvr.set_all_leds()
rvr.wake()
rvr.sleep()Full documentation at https://github.com/ssis-aa/rvr2023/blob/main/circuitpython/lib/sphero_rvr.py
1.3 inch oled at thegioiic.com
| TFT | Pico | Description |
|---|---|---|
| VCC | VSYS | Power Input |
| GND | GND | GND |
| A | GP15 | User button A -- left button (select) |
| B | GP17 | User button B -- right button (confirm) |
| SDA | GP0 | i2c data line for OLED and external sensors |
| SCL | GP1 | i2c clock for OLED and external sensors |
| TX | GP4 | TX UART 1 |
| RX | GP5 | RX UART 1 |
| TRIG | GP6 | trigger pin for ultrasonic |
| ECHO | GP7 | echo pin for ultrasonic |
We would like to just solder a 4-pin JST XH 2.54 mm pitch (0.1 ") connector to any of these boards and then use a standard XH-4 cable to connect to our ssis:bit without worrying about polarity or correct pin order:
The order of pins in the 1mm QUIIC connector is different from the order of the 4 pins found in virtually every hobby board with 2.54mm pins:
Hopefully we soon have a little shelf with all these different sensors for 'plug and play' and a software library on our boards.
| TFT | Pico | Description |
|---|---|---|
| VCC | VSYS | Power Input |
| GND | GND | GND |
| DIN | GP11 | MOSI pin of SPI, slave device data input |
| CLK | GP10 | SCK pin of SPI, clock pin |
| CS | GP9 | Chip selection of SPI, low active |
| DC | GP8 | Data/Command control pin (High for data; Low for command) |
| RST | GP12 | Reset pin, low active |
| BL | GP13 | Backlight control |
| A | GP15 | User button A ----- left button |
| B | GP17 | User button B ----- right button |
| X | GP19 | User button X |
| Y | GP21 | User buttonY |
| UP | GP2 | Joystick-up |
| DOWN | GP18 | Joystick-down |
| LEFT | GP16 | Joystick-left |
| RIGHT | GP20 | Joystick-right |
| CTRL | GP3 | Joystick-center |
| SDA | GP0 | i2c data line for OLED and external sensors |
| SCL | GP1 | i2c clock for OLED and external sensors |
| TX | GP4 | TX UART 1 |
| RX | GP5 | RX UART 1 |
| TRIG | GP6 | trigger pin for ultrasonic |
| ECHO | GP7 | echo pin for ultrasonic |