IO control

IO is the input and output of data. There are multiple pins on the M5Stack-basic and Atom of our robot arm. The input and output modes can be set through the following function interface.

Atom IO

set_pin_mode(id, pin_no, pin_mode)

Set the state mode of the specified pin in atom.

• Parameters

  • id – 1/2 (L/R)

  • pin_no (int) – pin number (1 - 5).

  • pin_mode (int) – 0 - input, 1 - output

set_digital_output(id, pin_no, pin_signal)

Set atom IO output level

• Parameters

  • id – 1/2 (L/R)

  • pin_no (int) – 1 - 5

  • pin_signal (int) – 0 / 1

get_digital_input(id, pin_no)

singal value

• Parameters

  • id – 1/2 (L/R)

  • pin_no (int) – 1 - 5

set_pwm_output(id, channel, frequency, pin_val)

PWM control

• Parameters

  • id – 1/2 (L/R)

  • channel (int) – IO number (1 - 5).

  • frequency (int) – clock frequency (0/1: 0 - 1Mhz 1 - 10Mhz)

  • pin_val (int) – Duty cycle 0 ~ 100: 0 ~ 100%

Raspberry Pi IO

These interfaces are based on RPi.GPIO

set_gpio_input(pin)

Set GPIO input value.

• Parameters

  pin – (int)pin number.

set_gpio_mode(pin_no, mode)

Init GPIO module, and set BCM mode.

• Parameters

  • pin_no – (int)pin number.

  • mode – 0 - input 1 - output

set_gpio_output(pin, v)

Set GPIO output value.

• Parameters

  • pin – (int)pin number.

  • v – (int) 0 / 1

set_gpio_pwm(pin, baud, dc)

Set GPIO PWM value.

• Parameters

  • pin – (int)pin number.

  • baud – (int) 10 - 1000000

  • dc – (int) 0 - 100