darkwater_docs/escapecplusplus.md

Programming the ESCAPE

C++

Introduction

The C++ libraries for the ESCAPE board and some example scripts are available via our GitHub repository. To install them open a terminal window on your Raspberry Pi (unless you are running with only the command line) and enter the following:

$ git clone https://github.com/darkwaterfoundation/darkwater_cplus_escape.git

Once they are download we can navigate into the new directory and take a look around - so enter:

$ cd ./darkwater_cplus_escape

Let's list the contents of that new directory by typing

$ ls -al

You should see two directories (and a README.md file which contains this content), called darkwater and examples.

The darkwater directory contains all of the classes needed to control your board and the examples directory contains a selection of demo code we've put together to show you how they are used.

Examples

Take a look in the examples directory and you will see the following available demos.

Motor

The Motor example will start each motor in turn from 1 through to 6 in a forwards direction, then stop them and do the same in reverse. To build this demo type the following:

$ cd ./Motor
$ make

Once you are returned to the command prompt you can run the program with the command:

$ sudo ./Motor

Servo

The servo example will move each of the six servos backwards and forwards six times. To build this demo type the following:

$ cd ./Servo
$ make

Once it is compiled you can run it with the command:

$ sudo ./Servo

PPM

AccelGyroMag

Drive a motor

Motor speed

Servo control

PPM integration

Expanding the board

Adding an expansion board

Next steps