77 lines
1.8 KiB
Markdown
77 lines
1.8 KiB
Markdown
# Programming the ESCAPE
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## C++
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### Introduction
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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:
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``` bash
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$ git clone https://github.com/darkwaterfoundation/darkwater_cplus_escape.git
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```
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Once they are download we can navigate into the new directory and take a look around - so enter:
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``` bash
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$ cd ./darkwater_cplus_escape
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```
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Let's list the contents of that new directory by typing
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``` bash
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$ ls -al
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```
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You should see two directories (and a README.md file which contains this content), called **darkwater** and **examples**.
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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.
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#### Examples
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Take a look in the examples directory and you will see the following available demos.
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##### Motor
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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:
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``` bash
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$ cd ./Motor
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$ make
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```
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Once you are returned to the command prompt you can run the program with the command:
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``` bash
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$ sudo ./Motor
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```
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##### Servo
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The servo example will move each of the six servos backwards and forwards six times. To build this demo type the following:
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``` bash
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$ cd ./Servo
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$ make
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```
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Once it is compiled you can run it with the command:
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``` bash
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$ sudo ./Servo
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```
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##### PPM
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##### AccelGyroMag
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### Drive a motor
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### Motor speed
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### Servo control
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### PPM integration
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## Expanding the board
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### Adding an expansion board
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### Next steps |