GoPiGo Class

Definition

Namespace:

Iot.Device.GoPiGo3

Assembly:

Iot.Device.Bindings.dll

Package:

Iot.Device.Bindings v3.0.0

A GoPiGo3 class for a GoPiGo3 Dexter Industries robot kit

public class GoPiGo : IDisposable

type GoPiGo = class
    interface IDisposable

Public Class GoPiGo
Implements IDisposable

Inheritance

Object

GoPiGo

Implements

IDisposable

Constructors

GoPiGo(SpiDevice, Byte, Boolean, Boolean)

Create a GoPiGo class

Fields

GroveSensor

The 2 Grove Sensor

Properties

EncoderTicksPerRotation	Set or get a specific ticks per rotation for the encoder
GoPiGo3Info	The GoPiGo3 information including hardware, firmware, ID and Manufacturer
GoPiGoVoltage	Get the real 5V and Battery/VCC voltages
MotorGearRatio	Set or get a specific gear ratio for the encoder
MotorTicksPerDegree	Return the number of ticks per degree
SpiAddress	Get the SPI address of GoPiGo3. By default, it is 8

Methods

Dispose()	Reset everything
GetBoard()	Read the 20 characters of GoPiGo3 board name
GetFirmwareVersion()	Read the firmware version
GetGroveAnalog(GrovePort)	Get a grove input pin 12-bit raw ADC reading
GetGrovePwmFrequency(GrovePort, UInt32)	Set grove PWM frequency
GetGroveState(GrovePort)	Get a grove input pin state
GetGroveValue(GrovePort)	Get a grove port value
GetGroveVoltage(GrovePort)	Get a grove input pin analog voltage
GetHardwareVersion()	Read the hardware version
GetId()	Read the 128 bit GoPiGo3 hardware serial number
GetIdHex()	Read the 128 bit GoPiGo3 hardware serial number
GetManufacturer()	Read the 20 characters of GoPiGo3 manufacturer name
GetMotorEncoder(MotorPort)	Read a motor encoder in degrees
GetMotorStatus(MotorPort)	Read a motor status
GetVoltage5V()	Get the 5v circuit voltage
GetVoltageBatteryVcc()	Get the battery voltage
GroveI2cStart(GrovePort, Byte, Byte[], Byte)	Start an I2C transaction
GroveI2cTransfer(GrovePort, Byte, Byte[], Byte)	Conduct an I2C transaction
OffsetMotorEncoder(MotorPort, Int32)	Offset a motor encoder
SetGroveMode(GrovePort, GroveInputOutput)	Set grove analog digital pin mode as input or output
SetGrovePwmDuty(GrovePort, Double)	Set grove output pin PWM
SetGroveState(GrovePort, Boolean)	Set grove output pin low or high
SetGroveType(GrovePort, GroveSensorType)	Set grove type
SetLed(Byte, Color)	Set the led color
SetMotorDps(MotorPort, Int32)	Set the motor target speed in degrees per second
SetMotorLimits(MotorPort, Byte, Int32)	Set the motor speed limit
SetMotorPosition(MotorPort, Int32)	Set the motor target position in degrees
SetMotorPositionKD(MotorPort, Byte)	Set the motor target position KD constant If you set KP higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating. KD slows down the motor as it approaches the target, and helps to prevent overshoot. In general, if you increase kp, you should also increase KD to keep the motor from overshooting and oscillating. See as well https://en.wikipedia.org/wiki/PID_controller
SetMotorPositionKP(MotorPort, Byte)	Set the motor target position KP constant If you set KP higher, the motor will be more responsive to errors in position, at the cost of perhaps overshooting and oscillating. KD slows down the motor as it approaches the target, and helps to prevent overshoot. In general, if you increase KP, you should also increase KD to keep the motor from overshooting and oscillating. See as well https://en.wikipedia.org/wiki/PID_controller
SetMotorPower(MotorPort, Int32)	Set the motor power in percent
SetServo(ServoPort, Int32)	Move the servo motor with a specific pulse in microseconds
SpiRead16(SpiMessageType)	Read a 16 bit value over SPI
SpiRead32(SpiMessageType)	Read a 32 bit value over SPI
SpiRead8(SpiMessageType)	Read a 8 bit value over SPI
SpiWrite16(SpiMessageType, Int16)	Send a 16 bit value over SPI
SpiWrite24(SpiMessageType, Int32)	Send a 24 bit value over SPI
SpiWrite32(SpiMessageType, Int32)	Send a 32 bit value over SPI
SpiWrite8(SpiMessageType, Byte)	Send a 8 bit value over SPI