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<!doctype html>
<html>
<head>
<meta charset='utf-8'>
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<meta name="viewport" content="width=device-width">
<title>Dark Water</title>
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});
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<div class='header'>
<div class='left'>
<h1><a href='/index.html'>Dark Water Documentation</a></h1>
<ul>
<li><a href='/640.html'>640</a></li>
<li><a href='/escape.html'>ESCAPE</a></li>
<!--<li><a href='/soar.html'>Soar</a></li>-->
<li><a href='/expansions.html'>Expansions</a></li>
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# Programming the 640
## C++
### Introduction
### Install prerequisites
### Drive a motor
### Motor speed
### Servo control
### PPM integration

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<link rel="stylesheet" href="//cdnjs.cloudflare.com/ajax/libs/highlight.js/9.4.0/styles/monokai-sublime.min.css">
<script src="//cdnjs.cloudflare.com/ajax/libs/highlight.js/9.4.0/highlight.min.js"></script>
<!-- Meta -->
<meta content="640 | Dark Water" property="og:title">
<meta content="640 - Getting Started | Dark Water" property="og:title">
<meta content="Dark Water Foundation documentation." name="description">
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## Getting started
![640](/images/640-450.png)
Welcome to the 640 board - this guide will describe all the features of the 640 board and show you how to control up to 6 motors or 3 stepper motors and 2 servos very simply.
## Board layout
##### CPPM / PPM-SUM
![640 CPPM](/images/640-cppm.png)
##### Servos
![640 Servos](/images/640-servo.png)
##### Motors
![640 Motors](/images/640-motors.png)
##### Power
![640 Power](/images/640-power.png)
## Setup your 640
### Attaching the power
### Attaching a Servo
### Attaching a motor
### Attaching an RC receiver
## Setting up your Pi
Before we can start using the 640 board we need to enable the interfaces that the board uses on your Raspberry Pi.
The 640 board is controlled using the I2C interface. Any expansion boards attached to your 640 board are controlled using the SPI interface.
### Enable I2C and SPI in Pixel
If you are using the graphical interface on your Raspberry Pi then click on your main menu icon, move down to *Preferences* and click on the *Raspberry Pi Configuration* menu item. Once open click on the *Interfaces* tab and you should see something like in the image below.
![rasbpi config i2c](/images/raspberryi2c.png)
Make sure that the line labelled I2C is set to enabled.
If you have an expansion board then you'll need to enable the SPI interface as well on the line above, so click the *Enabled* setting next to the *SPI* label
![rasbpi config spi](/images/raspberryspi.png)
Once you click Ok you may be promtped to reboot your Raspberry Pi - go ahead and reboot.
### Enable I2C and SPI on the command line
If you are only using the command line on your Raspberry Pi then you will need to use the text version of the Raspberry Pi configuration tool to enable the interfaces.
Type the following to bring up the configuration interface:
``` bash
$ sudo raspi-config
```
Once the menu is showing, scroll down to the *Advanced Options* menu and press Enter.
![rasbpi config adv](/images/advoptions-450.PNG)
Now we'll need to enable the I2C interface, so move down *I2C* menu and press Enter. You'll be asked if you want to enabled I2C - select *Yes* and you will see a confirmation and be returned to the main menu.
![rasbpi config adv i2c](/images/i2c-450.PNG)
Go to the *Advanced Options* again and do the same for *SPI*
![rasbpi config adv spi](/images/spi-450.PNG)
This time when you are returned to the main menu, move down to the *Finish* option (pressing the right arrow key twice will get you there) and press enter.
You have now enabled the interfaces you need to use your board.

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<!doctype html>
<html>
<head>
<meta charset='utf-8'>
<meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1">
<meta name="viewport" content="width=device-width">
<title>Dark Water</title>
<!-- Flatdoc -->
<script src="//ajax.googleapis.com/ajax/libs/jquery/1.9.1/jquery.min.js"></script>
<script src='/flatdoc/legacy.js'></script>
<script src='/flatdoc/flatdoc.js'></script>
<!-- Flatdoc theme -->
<link href='/flatdoc/theme-dark/style.css?1' rel='stylesheet'>
<script src='/flatdoc/theme-dark/script.js?1'></script>
<!-- Highlight.js -->
<link rel="stylesheet" href="//cdnjs.cloudflare.com/ajax/libs/highlight.js/9.4.0/styles/monokai-sublime.min.css">
<script src="//cdnjs.cloudflare.com/ajax/libs/highlight.js/9.4.0/highlight.min.js"></script>
<!-- Meta -->
<meta content="640 - Programming in Python | Dark Water" property="og:title">
<meta content="Dark Water Foundation documentation." name="description">
<!-- Initializer -->
<script>
Flatdoc.run({
fetcher: Flatdoc.github('darkwaterfoundation/docs', '640.md')
});
$(document).on('flatdoc:ready', function() {
// Highlight all the codes
$('pre code').each(function(i, block) {
hljs.highlightBlock(block);
});
});
</script>
</head>
<body role='flatdoc' class='big-h3'>
<div class='header'>
<div class='left'>
<h1><a href='/index.html'>Dark Water Documentation</a></h1>
<ul>
<li><a href='/640.html'>640</a></li>
<li><a href='/escape.html'>ESCAPE</a></li>
<!--<li><a href='/soar.html'>Soar</a></li>-->
<li><a href='/expansions.html'>Expansions</a></li>
</ul>
</div>
<div class='right'>
<!-- GitHub buttons: see http://ghbtns.com -->
<iframe src="//ghbtns.com/github-btn.html?user=darkwaterfoundation&amp;repo=docs&amp;type=watch&amp;count=true" allowtransparency="true" frameborder="0" scrolling="0" width="110" height="20"></iframe>
</div>
</div>
<div class='content-root'>
<div class='menubar'>
<div class='menu section' role='flatdoc-menu'></div>
</div>
<div role='flatdoc-content' class='content'></div>
</div>
</body>
</html>

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# Introduction
The 640 board is used to drive up to 6 DC motors and 2 Servo motors.
## Getting started
![640](/images/640-450.png)
Welcome to the 640 board - this guide will describe all the features of the 640 board and show you how to control up to 6 motors or 3 stepper motors and 2 servos very simply.
## Board layout
##### CPPM / PPM-SUM
![640 CPPM](/images/640-cppm.png)
##### Servos
![640 Servos](/images/640-servo.png)
##### Motors
![640 Motors](/images/640-motors.png)
##### Power
![640 Power](/images/640-power.png)
## Setup your 640
### Attaching the power
### Attaching a Servo
### Attaching a motor
### Attaching an RC receiver
## Setting up your Pi
Before we can start using the 640 board we need to enable the interfaces that the board uses on your Raspberry Pi.
The 640 board is controlled using the I2C interface. Any expansion boards attached to your 640 board are controlled using the SPI interface.
### Enable I2C and SPI in Pixel
If you are using the graphical interface on your Raspberry Pi then click on your main menu icon, move down to *Preferences* and click on the *Raspberry Pi Configuration* menu item. Once open click on the *Interfaces* tab and you should see something like in the image below.
![rasbpi config i2c](/images/raspberryi2c.png)
Make sure that the line labelled I2C is set to enabled.
If you have an expansion board then you'll need to enable the SPI interface as well on the line above, so click the *Enabled* setting next to the *SPI* label
![rasbpi config spi](/images/raspberryspi.png)
Once you click Ok you may be promtped to reboot your Raspberry Pi - go ahead and reboot.
### Enable I2C and SPI on the command line
If you are only using the command line on your Raspberry Pi then you will need to use the text version of the Raspberry Pi configuration tool to enable the interfaces.
Type the following to bring up the configuration interface:
``` bash
$ sudo raspi-config
```
Once the menu is showing, scroll down to the *Advanced Options* menu and press Enter.
![rasbpi config adv](/images/advoptions-450.PNG)
Now we'll need to enable the I2C interface, so move down *I2C* menu and press Enter. You'll be asked if you want to enabled I2C - select *Yes* and you will see a confirmation and be returned to the main menu.
![rasbpi config adv i2c](/images/i2c-450.PNG)
Go to the *Advanced Options* again and do the same for *SPI*
![rasbpi config adv spi](/images/spi-450.PNG)
This time when you are returned to the main menu, move down to the *Finish* option (pressing the right arrow key twice will get you there) and press enter.
You have now enabled the interfaces you need to use your board.
# Programming the 640
## Python
@@ -371,18 +290,4 @@ stepper1.step(200, dw_Controller.FORWARD, dw_Controller.SINGLE)
stepper1.step(200, dw_Controller.REVERSE, dw_Controller.DOUBLE)
```
If you want more control and need to move two or more motors at the same time then you should use the **oneStep** command.
## C++
### Introduction
### Install prerequisites
### Drive a motor
### Motor speed
### Servo control
### PPM integration
## Expanding the board
### Adding an expansion board
If you want more control and need to move two or more motors at the same time then you should use the **oneStep** command.

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# Programming the ESCAPE
## C++
### Introduction
### Install prerequisites
### Drive a motor
### Motor speed
### Servo control
### PPM integration
## Expanding the board
### Adding an expansion board

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## Getting started
## Board layout
## Setup your ESCAPE
### Attaching a Servo
### Attaching a motor
### Attaching an RC receiver
## Setting up your Pi
Before we can start using the ESCAPE board we need to enable the interfaces that the board uses on your Raspberry Pi.
The ESCAPE board is controlled using the I2C interface. Any expansion boards attached to your ESCAPE board are controlled using the SPI interface.
### Enable I2C and SPI in Pixel
If you are using the graphical interface on your Raspberry Pi then click on your main menu icon, move down to *Preferences* and click on the *Raspberry Pi Configuration* menu item. Once open click on the *Interfaces* tab and you should see something like in the image below.
![rasbpi config i2c](/images/raspberryi2c.png)
Make sure that the line labelled I2C is set to enabled.
If you have an expansion board then you'll need to enable the SPI interface as well on the line above, so click the *Enabled* setting next to the *SPI* label
![rasbpi config spi](/images/raspberryspi.png)
Once you click Ok you may be promtped to reboot your Raspberry Pi - go ahead and reboot.
### Enable I2C and SPI on the command line
If you are only using the command line on your Raspberry Pi then you will need to use the text version of the Raspberry Pi configuration tool to enable the interfaces.
Type the following to bring up the configuration interface:
``` bash
$ sudo raspi-config
```
Once the menu is showing, scroll down to the *Advanced Options* menu and press Enter.
![rasbpi config adv](/images/advoptions-450.PNG)
Now we'll need to enable the I2C interface, so move down *I2C* menu and press Enter. You'll be asked if you want to enabled I2C - select *Yes* and you will see a confirmation and be returned to the main menu.
![rasbpi config adv i2c](/images/i2c-450.PNG)
Go to the *Advanced Options* again and do the same for *SPI*
![rasbpi config adv spi](/images/spi-450.PNG)
This time when you are returned to the main menu, move down to the *Finish* option (pressing the right arrow key twice will get you there) and press enter.
You have now enabled the interfaces you need to use your board.

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# ESCAPE
The ESCAPE board is used to drive up to 6 Servos and 6 ESC powered motors.
## Getting started
## Board layout
## Setup your ESCAPE
### Attaching a Servo
### Attaching a motor
### Attaching an RC receiver
## Setting up your Pi
Before we can start using the ESCAPE board we need to enable the interfaces that the board uses on your Raspberry Pi.
The ESCAPE board is controlled using the I2C interface. Any expansion boards attached to your ESCAPE board are controlled using the SPI interface.
### Enable I2C and SPI in Pixel
If you are using the graphical interface on your Raspberry Pi then click on your main menu icon, move down to *Preferences* and click on the *Raspberry Pi Configuration* menu item. Once open click on the *Interfaces* tab and you should see something like in the image below.
![rasbpi config i2c](/images/raspberryi2c.png)
Make sure that the line labelled I2C is set to enabled.
If you have an expansion board then you'll need to enable the SPI interface as well on the line above, so click the *Enabled* setting next to the *SPI* label
![rasbpi config spi](/images/raspberryspi.png)
Once you click Ok you may be promtped to reboot your Raspberry Pi - go ahead and reboot.
### Enable I2C and SPI on the command line
If you are only using the command line on your Raspberry Pi then you will need to use the text version of the Raspberry Pi configuration tool to enable the interfaces.
Type the following to bring up the configuration interface:
``` bash
$ sudo raspi-config
```
Once the menu is showing, scroll down to the *Advanced Options* menu and press Enter.
![rasbpi config adv](/images/advoptions-450.PNG)
Now we'll need to enable the I2C interface, so move down *I2C* menu and press Enter. You'll be asked if you want to enabled I2C - select *Yes* and you will see a confirmation and be returned to the main menu.
![rasbpi config adv i2c](/images/i2c-450.PNG)
Go to the *Advanced Options* again and do the same for *SPI*
![rasbpi config adv spi](/images/spi-450.PNG)
This time when you are returned to the main menu, move down to the *Finish* option (pressing the right arrow key twice will get you there) and press enter.
You have now enabled the interfaces you need to use your board.
# Programming the ESCAPE
## Python

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# Expanding your boards
### Adding an expansion board

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# Introduction
Expansion boards can be added to any of our motor driver boards
## Getting started
## Board layout
## Setup
### Attaching the power
### Attaching a Servo
### Attaching a motor
### Attaching an RC receiver
# Programming the 640
## Python
### Introduction
### Import libraries
### Drive a motor
### Motor speed
### Servo control
## Node.JS
### Introduction
### Import libraries
### Drive a motor
### Motor speed
### Servo control
## C++
### Introduction
### Install prerequisites
### Drive a motor
### Motor speed
### Servo control
### PPM integration
## Expanding the board
### Adding an expansion board

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readme.md
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@@ -10,11 +10,11 @@ The 640 (Six for Zero) board is a DC and Stepper motor control board capable of
![640](/images/640-450.png)
- [Getting started](/640.html#introduction-getting-started) setting up your 640 board ready for use
- [Programming in Python](/640.html#programming-the-640-python) the Python API and how to use it
- [Programming in C++](/640.html#programming-the-640-c) controlling the board in C++
- [Getting started](/640gettingstarted.html) setting up your 640 board ready for use
- [Programming in Python](/640python.html) the Python API and how to use it
- [Programming in C++](/640cplusplus.html) controlling the board in C++
- [Set up RC Input]() reading input from your RC receiver
- [Expanding]() adding extra expansion boards
- [Expanding](/expansionadding.html) adding extra expansion boards
[Pre-Order a 640 board >](https://darkwater.io/product/640-dc-motor-control-board/)
@@ -24,11 +24,11 @@ The ESCAPE (ESC-cape) board was designed to provide a method of using brushless
![escape](/images/escape-450.png)
- [Getting started]() setting up your ESCAPE board ready for use
- [Programming in Python]() the Python API and how to use it
- [Programming in C++]() controlling the board in C++
- [Getting started](/escapegettingstarted.html) setting up your ESCAPE board ready for use
- [Programming in Python](/escapepython.html) the Python API and how to use it
- [Programming in C++](/escapecplusplus.html) controlling the board in C++
- [Set up RC Input]() reading input from your RC receiver
- [Expanding]() adding extra expansion boards
- [Expanding](/expansionadding.html) adding extra expansion boards
[Pre-Order an ESCAPE board >](https://darkwater.io/product/escape-esc-powered-motor-control-board/)
@@ -38,8 +38,8 @@ The SOAR board is a holder for advanced sensors. It is ideal for use with differ
![soar](/images/soar-450.png)
- [Getting started]() setting up your SOAR board ready for use
- [Adding an expansion board]() adding an expansion board
- [Getting started](/soargettingstarted.html) setting up your SOAR board ready for use
- [Adding an expansion board](/expansionadding.html) adding an expansion board
- [Reading data]() reading the sensor data
[Pre-Order a SOAR board >](https://darkwater.io/product/soar-expansion-board-holder/)