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TI-Innovator™ Technology Guidebook This guidebook applies to TI-Innovator™ Hub software version 1.2. To obtain the latest version of the documentation, go to education.ti.com/go/download. Important Information Except as otherwise expressly stated in the License that accompanies a program, Texas Instruments makes no warranty, either express or implied, including but not limited to any implied warranties of merchantability and fitness for a particular purpose, regarding any programs or book materials and makes such materials available solely on an "as-is" basis. In no event shall Texas Instruments be liable to anyone for special, collateral, incidental, or consequential damages in connection with or arising out of the purchase or use of these materials, and the sole and exclusive liability of Texas Instruments, regardless of the form of action, shall not exceed the amount set forth in the license for the program. Moreover, Texas Instruments shall not be liable for any claim of any kind whatsoever against the use of these materials by any other party. Learning More with the TI-Innovator™ Technology eGuide Parts of this document refer you to the TI-Innovator™ Technology eGuide for more details. The eGuide is a Web-based source of TI-Innovator™ information, including: • Programming with the TI CE Family of Graphing Calculators and TI-Nspire™ Technology, including sample programs. • Available I/O Modules and their commands. • Available breadboard components and their commands. • Available TI-Innovator™ Rover and its commands. • Link to update the TI-Innovator™ Sketch software. • Free classroom activities for TI-Innovator™ Hub. To access the eGuide, visit the Web address shown below, or use your mobile device to scan the corresponding QR Code®. https://education.ti.com/go/eguide/hub/EN Apple®, Chrome®, Excel®, Google®, Firefox®, Internet Explorer®, Mac®, Microsoft®, Mozilla®, Safari®, and Windows® are registered trademarks of their respective owners. QR Codeë is a registered trademark of DENSO WAVE INCORPORATED. Select images were created with Fritzing. © 2011 - 2017 Texas Instruments Incorporated ii Contents Important Information Learning More with the TI-Innovator™ Technology eGuide TI-Innovator™ Technology Getting Started Guide TI-Innovator™ Technology Overview Learn More What's in the Box TI-Innovator™ Hub with On-Board Components Built-in Ports USB Cables Auxiliary Power Connecting TI-Innovator™ Hub Connecting to a Graphing Calculator Connecting to a Computer Running TI-Nspire™ CX Software Updating the Hub Software Installing the Hub App on TI CE Graphing Calculator Hub Programming on TI CE Graphing Calculator Code Examples: TI CE Graphing Calculator Sample Program to Blink an On-Board LED How to Create and Execute a Program Using the Hub Menu to Build Commands Tips for Coding with TI CE Graphing Calculator Learn More Hub Programming on TI-Nspire™ CX Technology Code Examples: TI-Nspire™ CX Technology Sample Program to Blink an On-Board LED How to Create and Execute a Program Using the Hub Menu to Build Commands Tips for Coding with TI-Nspire™ CX Technology Learn More TI-Innovator™ I/O Modules Connecting an I/O Module Sample Program to Blink an LED Module Learn More TI-Innovator™ Breadboard Pack Addressable Components Sample Code to Blink a Breadboard LED Breadboard Basics Learn More Using an Auxiliary Power Source ii ii 1 2 2 3 3 3 4 4 5 5 6 7 8 9 9 9 10 11 12 13 14 14 14 15 16 18 18 19 19 20 20 21 21 22 23 24 25 iii Connecting the Power Source Troubleshooting Learn More General Precautions TI-Innovator™ Hub Breadboard Connector on the Hub Breadboard I/O Modules TI-Innovator™ Rover TI-Innovator™ Hub Commands version 1.2 HUB Menus Send("SET... Send("READ... Settings... Wait Get( eval( Rover (RV)... Send("CONNECT-Output... Send("CONNECT-Input... Ports... Send("RANGE... Send("AVERAGE... Send("DISCONNECT-Output... Send("DISCONNECT-INPUT... MANAGE Additional Supported Commands Not Found in the Hub Menu SET LIGHT [TO] ON/OFF COLOR [TO] r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds] COLOR.RED [TO] r [[BLINK|TOGGLE] frequency] [[TIME] seconds] COLOR.GREEN [TO] g [[BLINK|TOGGLE] frequency] [[TIME] seconds] COLOR.BLUE [TO] b [[BLINK|TOGGLE] frequency] [[TIME] seconds] SOUND [TO] frequency [[TIME] seconds] SOUND OFF/0 LED i [TO] ON/OFF LED i [TO] 0-255 SPEAKER i [TO] frequency [[TIME] seconds] BUZZER i [TO] ON [TIME seconds] BUZZER i [TO] OFF RELAY i [TO] ON/OFF SERVO i [TO] position iv 25 27 28 29 29 29 29 29 30 33 33 34 34 35 35 35 36 36 36 37 37 38 38 38 39 39 39 42 43 43 44 44 45 45 45 46 47 47 48 48 48 49 SERVO i [TO] STOP SERVO i [TO] ZERO SERVO i [TO] [CW/CCW] speed [[TIME] seconds] DCMOTOR i [TO] frequency [duty [[TIME] seconds]] DCMOTOR i OFF VIB.MOTOR i [TO] PWM VIB.MOTOR i [TO] OFF|STOP VIB.MOTOR i [TO] 0-255/UP/DOWN/ON/OFF [[BLINK|TOGGLE] freq] [[TIME] seconds] SQUAREWAVE i [TO] frequency [duty [[TIME] seconds]] SQUAREWAVE i OFF RGB i [TO] r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds] RED i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] GREEN i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] BLUE i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] ANALOG.OUT i [TO] ANALOG.OUT i OFF|STOP DIGITAL.OUT i [TO] ON/OFF/HIGH/LOW/[[BLINK|TOGGLE] frequency] [[TIME] seconds] DIGITAL.OUT i [TO] OUTPUT/CLOCK DIGITAL.IN i [TO] INPUT/PULLUP/PULLDOWN AVERAGING [TO] n READ BRIGHTNESS BRIGHTNESS AVERAGE BRIGHTNESS RANGE DHT i DHT i TEMPERATURE DHT i HUMIDITY RANGER i LOUDNESS i LOUDNESS i AVERAGE LOUDNESS i RANGE LIGHTLEVEL i LIGHTLEVEL i AVERAGE LIGHTLEVEL i RANGE TEMPERATURE i TEMPERATURE i AVERAGE TEMPERATURE i CALIBRATION SWITCH i BUTTON i 50 50 51 51 52 52 52 53 53 54 55 55 56 56 57 57 58 58 58 59 60 60 61 61 62 62 63 64 64 65 65 66 66 67 67 68 69 69 70 v MOTION i POTENTIOMETER i POTENTIOMETER i AVERAGE POTENTIOMETER i RANGE MOISTURE i MOISTURE i AVERAGE MOISTURE i RANGE THERMISTOR i THERMISTOR i AVERAGE THERMISTOR i CALIBRATION ANALOG.IN i ANALOG.IN i AVERAGE ANALOG.IN i RANGE ANALOG.OUT i DIGITAL.IN i AVERAGING Settings Wait Wait Get( Get( eval( eval( ROVER (RV) Menu Rover (RV)... Drive RV... RV FORWARD RV BACKWARD RV LEFT RV RIGHT RV STOP RV RESUME RV STAY RV TO XY (INACTIVE in v1.2 Release) RV TO POLAR (INACTIVE in v1.2 Release) RV TO ANGLE READ RV Sensors... RV.RANGER RV.COLORINPUT RV.COLORINPUT.RED RV.COLORINPUT.GREEN RV.COLORINPUT.BLUE RV.COLORINPUT.GRAY vi 70 71 71 72 72 73 73 74 74 74 75 75 76 76 77 77 79 79 79 80 81 82 82 84 84 85 86 87 88 88 89 89 90 90 90 91 92 92 93 94 94 95 95 RV Settings... SPEED TIME DEGREES UNIT/S M/S REV/S UNITS M REVS DEGREES RADIANS GRADS XYLINE LEFT RIGHT BRAKE COAST CW CCW Read RV Path… Reading WAYPOINT and PATH RV Position and Path RV.WAYPOINT.XYTHDRN RV.WAYPOINT.PREV RV.WAYPOINT.CMDNUM RV.PATHLIST.X RV.PATHLIST.Y RV.PATHLIST.TIME RV.PATHLIST.HEADING RV.PATHLIST.DISTANCE RV.PATHLIST.REVS RV.PATHLIST.CMDNUM RV.WAYPOINT.X RV.WAYPOINT.Y RV.WAYPOINT.TIME RV.WAYPOINT.HEADING RV.WAYPOINT.DISTANCE RV.WAYPOINT.REVS RV Color… RV.COLOR RV.COLOR.RED RV.COLOR.GREEN 96 96 97 97 98 98 98 99 99 100 100 100 101 101 102 102 102 103 103 104 105 105 106 107 107 108 109 110 110 111 111 112 112 113 113 114 114 115 115 117 117 117 118 vii RV.COLOR.BLUE RV Setup… RV.POSITION RV.GYRO RV.GRID.ORIGIN RV.GRID.M/UNIT RV.PATH CLEAR RV MARK RV Control… SET RV.MOTORS SET RV.MOTOR.L SET RV.MOTOR.R SET RV.ENCODERSGYRO 0 READ RV.ENCODERSGYRO READ RV.GYRO Send "CONNECT RV" CONNECT RV Send "DISCONNECT RV" DISCONNECT RV CONNECT - Output LIGHT COLOR SOUND LED i [TO] OUT n/BB n SPEAKER i [TO] OUT n/BB n BUZZER i [TO] OUT n/BB n RELAY i [TO] OUT n/BB n SERVO i [TO] OUT n SERVO.CONTINUOUS i [TO] BB 6 DCMOTOR i [TO] OUT n/BB n RGB i / COLOR [TO] BB r BB g BB b SQUAREWAVE i [TO] OUT n/BB n ANALOG.OUT i [TO] OUT i/BB i DIGITAL.OUT i [TO] OUT n/BB n [[AS] OUTPUT] CONNECT-Input BRIGHTNESS DHT i [TO] IN n RANGER i [TO] IN n LOUDNESS i [TO] IN n LIGHTLEVEL i [TO] IN n/BB n TEMPERATURE i [TO] IN n/BB n SWITCH i [TO] IN n/BB n BUTTON i [TO] IN n/BB n viii 118 120 120 120 121 121 122 122 124 124 125 125 126 126 127 128 128 129 129 130 130 131 131 132 132 133 133 134 134 135 135 136 136 137 138 138 139 139 140 140 141 142 142 MOTION i [TO] IN n/BB n POTENTIOMETER i [TO] IN n/BB n MOISTURE i [TO] IN n/BB n THERMISTOR i [TO] IN n/BB n ANALOG.IN i [TO] IN n/BB n DIGITAL.IN i [TO] IN n/BB n [[AS] INPUT|PULLUP|PULLDOWN] Ports RANGE BRIGHTNESS minimum maximum LOUDNESS i minimum maximum LIGHTLEVEL i minimum maximum TEMPERATURE i minimum maximum POTENTIOMETER i minimum maximum MOISTURE i minimum maximum THERMISTOR i minimum maximum ANALOG.IN i minimum maximum AVERAGE BRIGHTNESS n LOUDNESS i n LIGHTLEVEL i n TEMPERATURE i n POTENTIOMETER i n MOISTURE i n THERMISTOR i n ANALOG.IN i n PERIOD n DISCONNECT-Output LIGHT COLOR SOUND SPEAKER i BUZZER i RELAY i SERVO i SERVO CONTINOUS i DCMOTOR i SQUAREWAVE i RGB i ANALOG.OUT i DIGITAL.OUT i DISCONNECT-Input BRIGHTNESS DHT i 143 143 144 144 145 145 146 148 148 149 149 150 150 151 151 152 153 154 154 154 155 155 156 156 156 157 158 158 159 159 160 160 161 161 161 162 162 163 163 164 165 165 166 ix RANGER i LOUDNESS i LIGHTLEVEL i TEMPERATURE i SWITCH BUTTON i MOTION i POTENTIOMETER i MOISTURE i THERMISTOR i ANALOG.IN i DIGITAL.IN i MANAGE BEGIN BEGIN ISTI ISTI WHO WHO WHAT WHAT HELP HELP VERSION VERSION ABOUT ABOUT Additional Supported Commands Additional SET Commands FORMAT ERROR STRING/NUMBER FORMAT ERROR NOTE/QUIET FLOW [TO] ON/OFF OUT1/2/3 [TO] Additional READ Commands BUZZER i COLOR COLOR.RED COLOR.GREEN COLOR.BLUE DCMOTOR i DIGITAL.OUT i FORMAT FLOW x 166 167 167 168 168 168 169 169 170 170 171 171 172 172 172 173 173 173 173 174 174 174 174 175 175 175 175 176 176 176 176 177 177 179 179 179 180 180 181 182 182 183 183 IN1/IN2/IN3 LAST ERROR LED i LIGHT OUT1/2/3 PWR RELAY i RESOLUTION RGB i RED i GREEN i BLUE i SERVO i SERVO i CALIBRATION SOUND SPEAKER i SQUAREWAVE i Additional AVERAGE Commands PERIOD n Additional CALIBRATION Commands CALIBRATE SERVO i / SERVO.CONTINUOUS i TEMPERATURE i C1 C2 C3 R1 THERMISTOR i C1 C2 C3 R1 TI-Innovator™ Hub Data Sheets TI-Innovator™ Hub Data Sheet TI-Innovator™ Hub Ports and Breadboard Usable Pins Breadboard Connector Characteristics TI-Innovator™ Hub On-Board Component Data Sheets On-Board RGB LED Data Sheet On-Board Red LED Data Sheet On-Board Speaker Data Sheet On-Board Light Brightness Sensor Data Sheet On-Board - Auxiliary Power Indicator Data Sheet On-Board Green LED - Power Indicator Data Sheet On-Board Red LED - Error Indicator Data Sheet USB Mini A to Mini B Cable Data Sheet USB Standard A to Mini B Cable Data Sheet USB Standard A to Micro B Cable Data Sheet TI Wall Charger Data Sheet External Battery Data Sheet 184 184 185 185 186 186 187 187 187 188 189 189 190 190 191 191 192 193 193 194 194 194 195 195 197 198 200 200 201 201 203 205 207 208 209 210 211 212 213 214 215 xi TI-Innovator™ Rover Setup Guide TI-Innovator™ Rover Overview Learn More TI-Innovator™ Rover Setup Requirements Preparing TI-Innovator™ Rover Connecting TI-Innovator™ Rover Connecting TI-Innovator™ Rover to TI-Innovator™ Hub Connecting TI-Innovator™ Hub to a Graphing Calculator Exploring the Assembled TI-Innovator™ Rover Top Side of the Rover Bottom Side of the Rover Front Side of the Rover Back Side of the Rover Right Side of the Rover Left Side of the Rover General Precautions TI-Innovator™ Rover TI-Innovator™ Rover Commands version 1.2 Prerequisite: Use the Send "Connect RV" Command First Named RV Subsystems Rover Command Categories RV Commands, Code Samples, and Syntax TI-Innovator™ Rover Menu Rover (RV)... Drive RV... RV FORWARD RV BACKWARD RV LEFT RV RIGHT RV STOP RV RESUME RV STAY RV TO XY (INACTIVE in v1.2 Release) RV TO POLAR (INACTIVE in v1.2 Release) RV TO ANGLE READ RV Sensors... RV.RANGER RV.COLORINPUT RV.COLORINPUT.RED RV.COLORINPUT.GREEN RV.COLORINPUT.BLUE xii 216 217 217 218 219 220 220 223 224 224 225 226 226 227 228 228 228 1 1 1 2 3 3 3 7 8 9 10 10 11 11 12 12 12 13 14 14 15 16 16 17 RV.COLORINPUT.GRAY RV Settings... Read RV Path… Reading WAYPOINT and PATH RV Position and Path RV.WAYPOINT.XYTHDRN RV.WAYPOINT.PREV RV.WAYPOINT.CMDNUM RV.PATHLIST.X RV.PATHLIST.Y RV.PATHLIST.TIME RV.PATHLIST.HEADING RV.PATHLIST.DISTANCE RV.PATHLIST.REVS RV.PATHLIST.CMDNUM RV.WAYPOINT.X RV.WAYPOINT.Y RV.WAYPOINT.TIME RV.WAYPOINT.HEADING RV.WAYPOINT.DISTANCE RV.WAYPOINT.REVS RV Color… RV.COLOR RV.COLOR.RED RV.COLOR.GREEN RV.COLOR.BLUE RV Setup… RV.POSITION RV.GYRO RV.GRID.ORIGIN RV.GRID.M/UNIT RV.PATH CLEAR RV MARK RV Control… SET RV.MOTORS SET RV.MOTOR.L SET RV.MOTOR.R SET RV.ENCODERSGYRO 0 READ RV.ENCODERSGYRO READ RV.GYRO Send "CONNECT RV" CONNECT RV Send "DISCONNECT RV" 17 18 19 19 20 21 21 22 23 24 24 25 25 26 26 27 27 28 28 29 29 31 31 31 32 32 34 34 34 35 35 36 36 38 38 39 39 40 40 41 42 42 43 xiii DISCONNECT RV TI-Innovator™ Rover – Programmable Component Data Sheets TI-Innovator™ Rover TI-Innovator™ Rover On-Board Rotary Encoders Data Sheet TI-Innovator™ Rover On-Board Gyroscope Data Sheet TI-Innovator™ Rover On-Board Ultrasonic Ranger Data Sheet TI-Innovator™ Rover On-Board Color Sensor Data Sheet On-Board Light Brightness Sensor Data Sheet TI-Innovator™ Rover On-Board Electric Motors Data Sheet TI-Innovator™ Rover On-Board RGB (Red-Green-Blue) LED Data Sheet On-Board Speaker Data Sheet I/O Modules Data Sheets Analog Light Sensor Data Sheet Vibration Motor Data Sheet White LED Data Sheet Servo Motor Data Sheet Ultrasonic Ranger Data Sheet TI-Innovator™ Breadboard Data Sheets Breadboard Components and Usable Pins Environmental Sensors Thermistor Data Sheet TI Analog Temperature Sensor Data Sheet Visible Light Sensor Data Sheet LEDs and Displays Green LED Data Sheet RGB (Red-Green-Blue) LED Data Sheet Red LED Data Sheet Diode Data Sheet 7-segment Display Data Sheet Infrared Receiver Data Sheet Infrared Transmitter Data Sheet Motors Small DC Motor Data Sheet Power and Signal Control SPDT Slide Switch Data Sheet 8 Position DIP Switch Data Sheet 8 100 Ohm Resistor SIP Package Data Sheet TTL Power MOSFET Data Sheet Passive Components xiv 43 44 45 46 47 48 50 52 53 55 57 59 60 61 63 65 68 69 70 71 72 73 74 75 76 78 80 82 83 84 85 86 86 88 89 90 92 93 95 Accessories Breadboard Data Sheet Capacitors Resistors Frequently Asked Questions Product Configuration Information What are the TI-Innovator™ configurations that are available for sale? What is included with the TI-Innovator™ Rover? What is included in the TI-Innovator™ Hub Kit? What is included in the TI-Innovator™ I/O Module Pack? What is included in the TI-Innovator™ Breadboard Pack? What is included with the Ultrasonic Ranger Module? What is included with the External Battery Kit? Product Compatibility Information What TI products will work with the TI-Innovator™ Hub? What programming language is compatible with the TI-Innovator™ Hub? What sensors, actuators, etc. can I connect to the TI-Innovator™ Hub? Can the TI-Nspire™ Lab Cradle with Vernier™ sensors be used while using the TI-Innovator™ Hub? Can I plug Vernier™ sensors directly into the TI-Innovator™ Hub? Can the TI-Nspire™ CX Navigator™ System be used while using the TIInnovator™ Hub? Can TI Connect™ CE or TI-SmartView™ CE software communicate with the TIInnovator™ Hub? TI-Innovator™ Ports Information What connection ports are available, and what can they connect to? What is the difference between the two USB ports? General TI-Innovator™ Rover Information What TI products will work with the TI-Innovator™ Rover? What are the features of the TI-Innovator™ Rover? What type of marker does Rover work with? TI-Innovator™ Hub App for the TI CE Graphing Calculator(s) What is the TI-Innovator™ Hub App? How do I know whether I have the TI-Innovator™ Hub App? What version of the TI-Innovator™ Hub App do I need? How do I know what the version number of my TI-Innovator™ Hub App is? How do I get the TI-Innovator™ Hub App? Will I need to update the TI-Innovator™ Hub app every time I update the calculator OS? Do I need an app to use the TI-Innovator™ Hub with TI-Nspire™ CX technology? Updating Sketch on the TI-Innovator™ Hub What is the TI-Innovator™ sketch? 96 99 100 102 107 108 108 108 108 108 108 109 109 110 110 110 110 110 110 111 111 111 111 111 111 111 111 112 113 113 113 114 114 114 115 115 116 116 xv Do I need to update the sketch on the TI-Innovator™ Hub? What is the latest version of the sketch? Why would I update the sketch? How do I load the sketch on the TI-Innovator™ Hub? Can I update multiple TI-Innovator Hubs at the same time? How do I know what version of the sketch I have? What are the system requirements for upgrading? Can the sketch that comes on the TI-Innovator™ Hub be edited to add functionality but still work with the TI calculator? Is the sketch open source? TI LaunchPad™ Information What is a TI LaunchPad™ development kit? What TI LaunchPad™ kit is used in the TI-Innovator™ Hub? Can I use the TI-Innovator™ Hub as a TI LaunchPad™ development kit? What resources are available for the TI LaunchPad? How are development kits/engineering boards used by engineers in the real word? General Activity Information What activities are available for the TI-Innovator™ Hub? Where can I download activities for the TI-Innovator™ Hub? When will the activities be available? General Power Information for TI-Innovator™ Hub How is the TI-Innovator™ Hub powered? How does the TI-Innovator™ Hub affect the TI CE Graphing Calculator or TINspire™ CX battery life? When do I need to use the external power? What options are available for external power? Can I use a different battery/power supply with the TI-Innovator™ Hub? External Battery Information for TI-Innovator™ Hub What is the external battery? How do you use the External Battery with the TI-Innovator™ Hub? How long will the battery last on a full charge? What is the expected lifetime of the battery? How do you recharge the battery? How do I know how charged my battery is? Can I use the External Battery with other products? Rover Battery Information How long will the battery last on a full charge? What is the expected lifetime of the battery? How do you recharge the battery? How do I know how charged my battery is? TI-Innovator™ Hub On-Board Components Details What are the capabilities of the on-board components? What are some examples of using the on-board components? xvi 116 116 116 116 116 116 118 118 119 119 119 119 119 119 120 120 120 121 122 122 122 122 122 122 123 123 123 123 123 123 123 123 124 124 124 124 124 125 125 125 What are all the LEDs that are built into the TI-Innovator™ Hub? 126 What are the full syntax options for the each of the on-board components? 126 TI-Innovator™ Rover On-Board Components Details 129 What are the capabilities of the Rover on-board components? 129 What are some examples of using the Rover on-board components? 129 What are the full syntax options for the each of the Rover on-board 131 components I/O Module Details 133 What are the capabilities of the TI-Innovator™ I/O Modules available from TI? 133 What are some examples of using the TI-Innovator™ I/O Modules available 133 from TI? What are the full syntax options for the each of the TI-Innovator™ I/O Modules 134 available from TI? What other I/O Modules could work with the TI-Innovator™ Hub? 136 Breadboard Components Details 138 What are the capabilities of the components in the TI-Innovator™ Breadboard 138 Pack? Addressable Components 138 Passive Components 140 General Information Texas Instruments Support and Service General Information: North and South America For Technical Support For Product (Hardware) Service For All Other Countries: Service and Warranty Information 142 142 142 142 142 142 142 xvii TI-Innovator™ Technology Getting Started Guide The TI-Innovator™ Hub is the centerpiece of the TI-Innovator™ Technology, a project kit that extends the functionality of Texas Instruments (TI) graphing calculators to make coding and engineering design accessible to students in the classroom. Topics to help you get started include: • Technology Overview • What's in the Box • Connecting TI-Innovator™ Hub • Updating the Hub Software • Installing the Hub App on TI CE Graphing Calculator • Hub Programming on TI CE Graphing Calculator • Hub Programming on TI-Nspire™ CX Technology • TI-Innovator™ I/O Modules • TI-Innovator™ Breadboard Pack • Using an Auxiliary Power Source • Troubleshooting • General Precautions TI-Innovator™ Technology Getting Started Guide 1 TI-Innovator™ Technology Overview The TI-Innovator™ Technology consists of TI-Innovator™ Hub with TI LaunchPad™ Board, and optional TI-Innovator™ components. The TI-Innovator™ Hub lets you use your compatible TI graphing calculator or TI-Nspire™ CX computer software to control components, read sensors, and create powerful learning experiences. • • You communicate with the Hub through TI Basic programming commands. Hosts that are compatible with TI-Innovator™ Hub include: - • TI CE Family of Graphing Calculators (TI-83 Premium CE, TI-84 Plus CE, and TI-84 Plus CE-T) with operating system version 5.3 or later installed. You also need to install or update the Hub App, which contains the Hub menu. TI Nspire™ CX or TI Nspire™ CX CAS handheld with operating system version 4.5 or later installed TI Nspire™ computer software version 4.5 or later TI-Innovator™ Hub. Communicates with the host, the Hub on-board components, and connected external components. It also distributes power to external components. • TI-Innovator™ Components . These components, sold separately, include sensors, motors, and LEDs that connect to the Hub through its I/O ports and breadboard connector. Learn More For a list of precautions to take while using the Hub and its components, refer to General Precautions (page 29). To find information on accessories, external modules, and breadboard components, visit education.ti.com/go/innovator. 2 TI-Innovator™ Technology Getting Started Guide What's in the Box TI-Innovator™ Hub with On-Board Components À A Light Brightness Sensor at the bottom of the Hub can be read as "BRIGHTNESS" in Hub command strings. Á Red LED is addressable as "LIGHT" in Hub command strings. Â Speaker (at back of Hub, not shown) is addressable as "SOUND" in Hub command strings. Ã Red-Green-Blue LED is addressable as "COLOR" in Hub command strings. Also visible on the face of the Hub are: A Green auxiliary power LED B Green power LED, C Red error LED. Built-in Ports Left side - Three ports for collecting data or status from input modules: • IN 1 and IN 2 provide 3.3V power. • IN 3 provides 5V power. Right side - Three ports for controlling output modules: • OUT 1 and OUT 2 provide 3.3V power. • OUT 3 provides 5V power. Bottom - Light Brightness Sensor (described earlier) and two ports: • I2C port connects to peripherals that use the I2C communication protocol. • DATA Mini-B port, used with the appropriate cable, connects to a compatible graphing calculator or computer for data and power. TI-Innovator™ Technology Getting Started Guide 3 Top - Two connectors: • USB-Micro connector (PWR) for auxiliary power required by some components. Also used for updating the Hub internal software. • Breadboard Connector with 20 labeled pins for communication with connected components. A breadboard and jumper cables are included with the TI-Innovator™ Breadboard Pack, sold separately. USB Cables À USB Unit-to-Unit (Mini-A to Mini-B) - Connects the Hub to a TI CE Graphing Calculator or a TI-Nspire™ CX Handheld. Á USB Standard A to Mini-B - Connects the Hub to a computer running TI-Nspire™ CX Software. Â USB Standard A to Micro - Connects the PWR port of the Hub to a TI approved power source required by some peripherals. Auxiliary Power TI Wall Charger - Supplies power through the TI-Innovator™ Hub for components, such as motors, that require additional power. The optional External Battery Pack can also provide auxiliary power. Note: An auxiliary power LED on the Hub indicates when the Hub is receiving auxiliary power. 4 TI-Innovator™ Technology Getting Started Guide Connecting TI-Innovator™ Hub The TI-Innovator™ Hub connects by a USB cable to a graphing calculator or computer. The connection lets the Hub receive power and exchange data with the host. Note: Some peripherals, such as motors, may require auxiliary power. For more information, see Using an Auxiliary Power Source (page 25). Connecting to a Graphing Calculator 1. Identify the "B" connector on the USB Unit-to-Unit (Mini-A to Mini-B) cable. Each end of this cable is embossed with a letter. 2. Insert the "B" connector into the DATA port at the bottom of the TI-Innovator™ Hub. 3. Insert the free end of the cable (the "A" connector) into the USB port on the calculator. Hub connected to TI CE Graphing Calculator Hub connected to TI-Nspire™ CX Handheld TI-Innovator™ Technology Getting Started Guide 5 4. Turn on the calculator if it is not already on. The power LED on the Hub glows green to show that it is receiving power. Connecting to a Computer Running TI-Nspire™ CX Software 1. Identify the "B" connector on the USB Standard A to Mini-B cable for Windows®/Mac®. Each end of this cable is embossed with a letter. 2. Insert the "B" connector into the DATA port at the bottom of the TI-Innovator™ Hub. 3. Insert the free end of the cable (the "A" connector) into a USB port on the computer. The power LED on the Hub glows green to show that it is receiving power. 6 TI-Innovator™ Technology Getting Started Guide Updating the Hub Software The TI-Innovator™ Hub contains software, TI-Innovator™ Sketch, that interprets Hub commands and communicates with on-board devices and connected modules. A Webbased tool lets you update the Sketch. Updated versions contain bug fixes and ensure that your TI-Innovator™ Hub can communicate with the latest components. To obtain the latest version of the TI-Innovator™ Sketch go to the following site: https://education.ti.com/en/us/hubsw TI-Innovator™ Technology Getting Started Guide 7 Installing the Hub App on TI CE Graphing Calculator All TI CE Graphing Calculator running Operating System v5.2 can use TI-Innovator™ Hub commands. However, the Hub Menu for OS v5.2 resides in a separate Hub App. To Download the App: Note: This procedure applies only to TI CE Graphing Calculator Operating System v5.2 users who need to install or update the Hub App. To determine your calculator's OS version, press y L and select About. To determine if the Hub App is already installed, press y L, select Mem Management/Delete, select Apps , and look for "Hub" in the list of installed Apps. 1. Make sure you have installed version 5.2 or later of the TI Connect™ CE Software on your computer. You can download and install it free of charge. 2. Use your Web browser to go to education.ti.com/go/download. 3. Select your preferred country and language. 4. On the download screen (for this example), select TI-84 Plus CE , select Utility Apps , and then click Find. A list of Apps appears. 5. Click TI-Innovator™ Hub App to start the download process. Note the name of the download file and the folder where you save it. To Install or Update the App: 1. Connect the calculator to the computer, using the USB Standard A to Mini-B cable. 2. Open the TI Connect™ CE software on the computer. It should recognize the calculator. 3. On the Actions menu, select Add Files from Computer. You are prompted to choose a file. 4. Navigate to the folder where you saved the App file, type *.8ek into the File name field, and press enter to show App files only. 5. Double-click the Hub App file that you downloaded. 6. On the Send to Calculator screen, Click Send. 8 TI-Innovator™ Technology Getting Started Guide Hub Programming on TI CE Graphing Calculator Note: These instructions apply to TI CE graphing calculator. For similar instructions for TI-Nspire™ CX technology, refer to Hub Programming on TI-Nspire™ CX Technology (page 14). The TI-Innovator™ Hub responds to TI Basic programming commands such as Send and Get. • Send - Sends command strings to the Hub to control devices or request information. • Get - Retrieves information requested from the Hub. • eval - Supplies the result of an expression as a character string. Especially useful within the Hub command string in Send commands. • Wait - Pauses program execution for a specified number of seconds. Code Examples: TI CE Graphing Calculator Desired Action Program Code Turn on the on-board Red LED ("LIGHT"). Send("SET LIGHT ON") Play a 440Hz tone on the on-board speaker ("SOUND") for 2 seconds. Send("SET SOUND 440 TIME 2") Turn on blue element of on-board RGB LED ("COLOR") at 100% brightness. Send("SET COLOR.BLUE 255") Read and display the current value of the on-board light sensor ("BRIGHTNESS"). Range is 0% to 100%. Send("READ BRIGHTNESS") Get(A):Disp A Sample Program to Blink an On-Board LED The following TI CE graphing calculator program uses the Send and Wait commands to blink the on-board red LED in the Hub. The commands are contained in a "For...End" loop that repeats the ON/OFF blink cycle for 10 iterations. TI-Innovator™ Technology Getting Started Guide 9 PRGM: BLINK For(N,1,10) Send("SET LIGHT ON") Wait 1 Send("SET LIGHT OFF") Wait 1 End How to Create and Execute a Program Note: These are abbreviated instructions. For detailed instructions on creating and executing programs, refer to TI-Basic Programming for the TI CE Graphing Calculator. The guide is available through the TI-Innovator™ Technology eGuide (page ii). Before You Begin ▶ Refer to System Requirements (page 2), and update your calculator's OS (Operating System) and Hub App, as needed. You can update from TI Connect™ CE software or from another updated calculator. To Create a New Program on TI CE Graphing Calculator: 1. On the Home Screen, press ¼, select New, and press Í. 2. Type a name for your program, such as "SOUNDTST," and then press Í. The Program Editor opens, displaying a template for your program code. 3. Enter the lines of code that make up your program. - - You must use the Hub Menu to enter TI-Basic commands, such as Send and Get. (Press ¼ and select Hub.) You can enter Hub command strinSetgs and parameters such as "SET LIGHT ON" by using the menu or by typing. If you type the strings, make sure to use the correct case. At the end of each line, press Í. Each new line is automatically preceded by a colon ( :). Use the arrow keys to move through a program. Press { to delete, or press y 6 to insert. To Close the Program Editor ▶ Press y 5 to return to the Home Screen. 10 TI-Innovator™ Technology Getting Started Guide The program remains available through the ¼ key. To Run the Program: 1. Ensure that the TI-Innovator™ Hub is connected to your calculator. 2. Ensure that any needed I/O Modules or Breadboard components are connected to the Hub. 3. From the Home Screen, press ¼, select your program name from the displayed list, and press Í. The program name is pasted to the Home Screen. 4. Press Í again to run the program. To Edit an Existing Program: 1. On the Home Screen, press ¼, select Edit. 2. Select the program name from the displayed list, and press Í. The program opens in the Program Editor. Using the Hub Menu to Build Commands The Hub menu is available on the TI CE graphing calculator anytime you are creating or editing a program. It can save you time building commands and help you with correct command spelling and syntax. Note: To build a command from the Hub menu, you need to know: • The unique name of the component that you are addressing, such as "SOUND" for the on-board speaker. • The command parameters that apply to the component, such as sound frequency and duration. Some parameters are optional, and you might need to know the value range of a parameter. Example of Using the Hub Menu: This TI CE graphing calculator example builds the command Send ("SET SOUND 440 TIME 2") to sound a 440Hz tone for 2 seconds on the on-board speaker. 1. Open (or create) the program that you will use to communicate with the Hub. TI-Innovator™ Technology Getting Started Guide 11 2. Position the cursor where you want to place the command. 3. Press ¼ and select Hub. The Hub menu appears. 4. Select Send "SET and press Í, and then select SOUND and press Í. 5. Type 440 as the sound frequency. 6. On the Hub menu, select Settings > TIME . 7. Type 2 as the TIME value. 8. To complete the command, type closing quotes (press ƒ Ã), and then press ¤. 9. To return to the Home Screen and test the command, press y 5 and then follow the previous instructions for running a program. Tips for Coding with TI CE Graphing Calculator • Make sure your code is free of unnecessary spaces that can cause syntax errors. This includes repeated spaces within the line and one or more spaces at the end of a line. • Code from an external source might show "curly" quotation marks ( “ ...” ) in places that require straight quotes ("..."). To type straight quotes, press ƒ and then Ã. • To clear the current line of code, press ‘. • To type relational operators such as =, <, and ≤, press y :. • To type a space, press ƒ and then Ê. • If your program becomes unresponsive while running, press the É key. • Note: If a command syntax does not include an opening left parenthesis, such as "Wait ", using a pair of parentheses in an argument may be interpreted as the full argument and give an unexpected syntax error. When entering long expressions with parentheses, enclose the entire expression with paired parentheses to avoid syntax errors of this nature. 12 TI-Innovator™ Technology Getting Started Guide Valid: Wait ((X+4)*5) Valid: Wait X+4*5 Syntax Error: Wait (X+4)*5 Learn More To find sample programs and details about programming the TI-Innovator™ Hub, see the TI-Innovator™ Technology eGuide (page ii). TI-Innovator™ Technology Getting Started Guide 13 Hub Programming on TI-Nspire™ CX Technology Note: These instructions apply to TI-Nspire™ CX technology. For similar instructions for TI CE graphing calculator, refer to Hub Programming on TI CE Graphing Calculator (page 9). The TI-Innovator™ Hub responds to TI Basic programming commands such as Send and Get. • Send - Sends command strings to the Hub to control devices or request information. • Get and GetStr - Retrieve information requested from the Hub. • eval() - Supplies the result of an expression as a character string. Valid only within Send, Get, and GetStr commands. • Wait - Pauses program execution for a specified number of seconds. Code Examples: TI-Nspire™ CX Technology Desired Action Program Code Turn on the on-board Red LED ("LIGHT"). Send "SET LIGHT ON" Play a 440Hz tone on the on-board speaker ("SOUND") for 2 seconds. Send "SET SOUND 440 TIME 2" Turn on blue element of on-board RGB LED ("COLOR") at 100% brightness. Send "SET COLOR.BLUE 255" Read and display the current value of the on-board light sensor ("BRIGHTNESS"). Range is 0% to 100%. Send "READ BRIGHTNESS" Get a: Disp a Sample Program to Blink an On-Board LED The following TI-Nspire™ CX program uses the Send and Wait commands to blink the on-board red LED in the Hub. The commands are contained in a "For...EndFor" loop that repeats the ON/OFF blink cycle for 10 iterations. 14 TI-Innovator™ Technology Getting Started Guide Define blink()= Prgm For n,1,10 Send "SET LIGHT ON" Wait 1 Send "SET LIGHT OFF" Wait 1 EndFor EndPrgm How to Create and Execute a Program Note: These are abbreviated instructions. For detailed instructions, refer to the TI-Nspire™ CX Program Editor, accessible through the TI-Innovator™ Technology eGuide (page ii). Before You Begin: ▶ Refer to System Requirements (page 2), and update your software as needed. - On TI-Nspire™ CX handhelds, use TI-Nspire™ computer software to update the Operating System. On computers running TI-Nspire™ CX software, use the Help menu to update the software. To Create a New Program in a TI-Nspire CX Document: 1. On the handheld, press ~ and select Insert > Program Editor > New. From the computer software, click Insert > Program Editor > New. 2. Type a name for your program, such as "soundtst," select Program as the Type, and then click OK. The Program Editor opens, displaying a template for your program code. 3. Between the Prgm and EndPrgm lines, type the lines of code that make up your program. - You can either type command names or insert them from the Program Editor menu. After typing each line, press Enter to type additional code. - Use the arrow keys to scroll through the program. To Store the Program: You must store your program before you can run it. TI-Innovator™ Technology Getting Started Guide 15 ▶ On the handheld, press b and select Check Syntax & Store > Check Syntax & Store. On the Program Editor menu, click Check Syntax & Store > Check Syntax & Store. To Close the Program Editor ▶ On the handheld, press b and select Actions > Close. On the Program Editor menu, click Actions > Close. If you have made changes since storing the program, you are prompted to Check Syntax & Store. To Run the Program: 1. Ensure that the TI-Innovator™ Hub is connected to your handheld or computer. 2. Ensure that any needed I/O Modules or Breadboard components are connected to the Hub. 3. Open the document that contains the program. 4. On a Calculator page, type the program name and parentheses. If the program requires arguments, enclose them in the parentheses, separated by commas. The program runs. To Edit an Existing Program: 1. If necessary, open the document that contains the program. 2. Go to a Calculator page. 3. On the handheld, press b and select Functions & Programs > Program Editor > Open. On the Calculator menu, click Functions & Programs > Program Editor > Open. 4. Select the program name name from the displayed list. The program appears in a Program Editor page. Using the Hub Menu to Build Commands The Hub menu is available on the TI-Nspire™ CX technology anytime you are creating or editing a program. It can save you time building commands and help you with correct command spelling and syntax. Note: To build a command from the Hub menu, you need to know: • The unique name of the component that you are addressing, such as "SOUND" for the on-board speaker. • The command parameters that apply to the component, such as sound frequency and duration. Some parameters are optional, and you might need to know the value range of a parameter. 16 TI-Innovator™ Technology Getting Started Guide Example of Using the Hub Menu: This TI-Nspire™ CX example builds the command Send "SET SOUND 440 TIME 2" to sound a 440Hz tone for 2 seconds on the on-board speaker. 1. Open (or create) the program that you will use to communicate with the Hub. 2. Position the cursor where you want to place the command. 3. On the handheld, press b and select Hub. In the Program Editor menu, select Hub. The Hub menu appears. 4. Select Send "SET, and then select SOUND to insert the first part of the command. 5. Type 440 as the frequency value. 6. On the Hub menu, select Settings > TIME . 7. To complete the command, Type 2 as the TIME value. 8. To test the command, follow the previous instructions for running a program. TI-Innovator™ Technology Getting Started Guide 17 Tips for Coding with TI-Nspire™ CX Technology • Code from an external source might contain "curly" quotation marks ( “ ...” ) in places that require straight quotes ("..."). To type straight quotes, press / r. • To clear the current line of code, press / Ì. • To type relational operators such as =, <, and ≤, press / =. • To type a space, press _. • If your program becomes unresponsive while running: TI-Nspire™ CX Handheld: Hold down the c key and press · repeatedly. Windows®: Hold down the F12 key and press Enter repeatedly. Mac®: Hold down the F5 key and press Enter repeatedly. Learn More To find sample programs and details about programming the TI-Innovator™ Hub, see the TI-Innovator™ Technology eGuide (page ii). 18 TI-Innovator™ Technology Getting Started Guide TI-Innovator™ I/O Modules These Input/Output modules (purchased separately) include cables for connecting the modules to the TI-Innovator™ Hub. Module Ports White LED Turn on the White LED module connected to OUT 1: * OUT 1 OUT 2 OUT 3 Servo Motor OUT 3 Rotate the shaft of the Servo Motor connected to OUT 3 counter clockwise by 90°: ** Image Sample code for TI CE Graphing Calculator Send("CONNECT LED 1 TO OUT 1") Send("SET LED 1 ON") Send("CONNECT SERVO 1 TO OUT 3") Send("SET SERVO 1 TO -90") Equivalent code using a variable with eval(): angdeg:=-90 Send("CONNECT SERVO 1 TO OUT 3") Send("SET SERVO 1 TO eval(angdeg)") IN 1 IN 2 IN 3 Read and display ambient light level from the sensor connected to IN 2: Ultrasoni IN 1 c Ranger IN 2 Read and display measured distance from the ranger connected to IN 2: Analog Light Sensor Send("CONNECT LIGHTLEVEL 1 TO IN2") Send("READ LIGHTLEVEL 1") Get(L):Disp(L) Send("CONNECT RANGER 1 TO IN2") Send("READ RANGER 1") Get(R):Disp(R) Vibration OUT 1 Motor OUT 2 OUT 3 Turn on the Vibration Motor connected to OUT 1: Send("CONNECT VIB.MOTOR 1 TO OUT 1") Send("SET VIB.MOTOR 1 TO ON") *The White Led module requires some assembly. **The Servo Motor requires auxiliary power and some assembly. For details, refer to the TI-Innovator™ Technology eGuide (page ii). Connecting an I/O Module You use the I/O cable included with the module to connect it to a Hub Input or Output port. TI-Innovator™ Technology Getting Started Guide 19 1. Check the above table to ensure that you know which I/O ports support the module that you are connecting. 2. Connect either end of the I/O cable to the white connector on the module. 3. Connect the free end of the I/O cable to the Hub port you have decided to use. 4. If the module requires auxiliary power, connect the power source (page 25), Sample Program to Blink an LED Module The following TI CE graphing calculator program uses Send and Wait commands to blink an LED module connected to an I/O port. Note: This program operates correctly only if the calculator is connected to the Hub and an LED module is physically connected to port OUT 1. PRGM: BLINKIO Send("CONNECT LED 1 TO OUT1") For(N,1,10) Send("SET LED 1 ON") Wait 1 Send("SET LED 1 OFF") Wait 1 End Send("DISCONNECT LED 1") Note: If you are using TI-Nspire™ CX technology, omit the parentheses, and change End to EndFor. The Hub command string "CONNECT LED 1 TO OUT1" tells the Hub that an LED module is connected to port OUT 1 on the Hub. After sending this command, the code can address the LED as "LED 1." The CONNECT command is required only for I/O Modules and Breadboard components. It is not necessary with the on-board components such as the built-in speaker. Learn More For a list of precautions to take while using the I/O Modules, refer to General Precautions (page 29). To find sample programs, a list of additional I/O Modules, and details about programming I/O Modules, see the TI-Innovator™ Technology eGuide (page ii). 20 TI-Innovator™ Technology Getting Started Guide TI-Innovator™ Breadboard Pack The breadboard and its components (purchased separately) let you build breadboard projects and connect them to the TI-Innovator™ Hub through its Breadboard Connector pins. The breadboard components include: • A breadboard and jumper cables for creating electrical connections. • Addressable components, such as LEDs and sensors, that respond to Hub commands. These are listed in the table below. • Passive components, such as resistors, capacitors, and manual switches that are not directly addressable by the Hub but are required in many breadboard projects. • A Battery Holder that holds four AA batteries. Batteries are not included. Addressable Components Component Image Used with pins Description Red LEDs BB 1-10 Light-emitting diode that emits light when current passes through it. Green LEDs BB 1-10 Light-emitting diode that emits light when current passes through it. RGB (RedGreen-Blue) LEDs BB 8-10 Light-emitting diode with independently adjustable red, green and blue elements. Can produce a wide variety of colors. Thermistor BB 5,6,7 (analog input required) Resistor whose resistance changes based on temperature. Used for measurement and control. 7-segment Display BB 1-10 Array of LEDs arranged to display numbers and some alphabetic characters. Also has an LED for a decimal point. Small DC Motor BB 1-10 (uses digital to generate software PWM) Motor that converts direct current electrical power into mechanical power. TI-Innovator™ Technology Getting Started Guide 21 TTL Power MOSFET BB 1-10 Transistor used for amplifying or switching electronic signals. TI Analog Temperature Sensor BB 5,6,7 (analog input required) Sensor that reports a voltage proportional to the ambient temperature within a range of −55°C to 130°C. Visible Light Sensor BB 5,6,7 (analog input required) Sensor that reports the level of ambient light. Infrared Transmitter LTE-302, yellow dot BB 1-10 (digital output) Side emitting Infrared LED, designed to be paired with the LTR-301 Photo-Transistor. Infrared Receiver LTR-301, red dot BB 1-10 (digital input) Side sensing Infrared photo transistor, designed to be paired with the LTE-302 Infrared Emitter. Sample Code to Blink a Breadboard LED The following TI CE graphing calculator(s) program uses Send and Wait commands to blink a specific LED on the breadboard. Note: This program operates correctly only if the calculator is connected to the Hub and the LED is physically connected to BB1 (breadboard pin 1) on the Hub. 22 TI-Innovator™ Technology Getting Started Guide PRGM: BLINKBB Send("CONNECT LED 1 TO BB1") For(N,1,10) Send("SET LED 1 ON") Wait 1 Send("SET LED 1 OFF") Wait 1 End Send("DISCONNECT LED 1") Note: If you are using TI-Nspire™ CX technology, omit the parentheses, and change End to EndFor. The Hub command string "CONNECT LED 1 TO BB1" tells the Hub that an LED on the breadboard is connected to pin 1 on the Hub. After sending this command, your code can address the LED as "LED 1." The CONNECT command is required only for I/O Modules and breadboard components. It does not apply to on-board components such as the built-in speaker. Breadboard Basics The breadboard makes it easy to connect the electronic components of a project by inserting component leads and jumper cables into pins on the breadboard. The pins are arranged in groups of 5. The 5 pins in each group are electrically connected to each other at the back of the board. You connect leads and cables together by inserting them into pins within the same group. • Power rails at the top and bottom are marked with red (+) and blue (–) stripes. The groups in each rail are electrically connected along the entire length of the stripe. • The remaining 5-pin groups on the board are labeled with numbers and letters. Each group is electrically isolated from the others. TI-Innovator™ Technology Getting Started Guide 23 Front of board showing power rails and connection pins Interconnections at back of board (normally hidden). The 5-pin groups in each power rail are interconnected. All other 5-pin groups are isolated. The gap at the center of the breadboard allows easy connection of electronic components provided as dual-inline packages. You use jumper cables between the Hub and the breadboard to power breadboard components and to control or monitor them through program code. The Hub has 20 labeled pins, including 10 signal pins, 8 ground pins, one 3.3V power pin, and one 5.0V power pin. Learn More For a list of precautions to take while using the breadboard and its components, refer to General Precautions (page 29). To find sample programs and details about programming breadboard components on the TI-Innovator™ Hub, see the TI-Innovator™ Technology eGuide (page ii). 24 TI-Innovator™ Technology Getting Started Guide Using an Auxiliary Power Source Normally, the TI-Innovator™ Hub and its connected components draw power from the host calculator or computer, through the DATA connector. Certain components, such as the optional Servo Motor, require more power than a calculator can provide reliably. The PWR connector on the Hub lets you connect an auxiliary power source. You can use the TI Wall Charger or the External Battery Pack. TI Wall Charger (included with the Hub) • Plugs into a wall outlet. • Does not use batteries. External Battery Pack (sold separately) • Rechargeable. • Has On/Off button with a row of LEDs that momentarily indicate the battery charge when you turn the battery on. • Turns itself off after being disconnected from the Hub for about 3 minutes. Note: To recharge the External Battery Pack, disconnect it from the Hub and then connect it to the TI Wall Charger using the USB Standard A to Micro cable. Do not use the External Battery Pack as an auxiliary power source while it is being charged. Connecting the Power Source 1. Identify the Micro connector on the USB Standard A to Micro auxiliary power cable. 2. Insert the Micro connector into the PWR connector at the top of the Hub. TI-Innovator™ Technology Getting Started Guide 25 3. Insert the free end of the cable (the "A" connector) into the USB port on the power source. 4. Turn on the power source: - If using the TI Wall Charger, plug it into a wall socket. If using the External Battery Pack, press the power button. An auxiliary power LED on the Hub glows to show that the Hub is receiving auxiliary power. 5. Connect the TI-Innovator™ Hub to the host calculator, using the USB Standard A to Mini-B cable. 6. Connect the I/O Module or breadboard component to the Hub. 26 TI-Innovator™ Technology Getting Started Guide Troubleshooting I don't see the green LED when I connect TI-Innovator™ Hub. • Make sure that the calculator is turned on. • If you are using a USB Unit-to-Unit (Mini-A to Mini-B) cable to connect to a calculator, make sure to connect the "B" end of the cable to the DATA connector at the bottom of the Hub. Reversing this cable prevents the Hub from receiving power. • Make sure your calculator or computer meets the System Requirements (page 2). • Make sure the end of the USB cable connected to the calculator is inserted completely. How do I turn the Hub off? 1. Turn off the host calculator or computer. – OR – Disconnect the USB cable. 2. Disconnect any auxiliary power source connected to the PWR port on the Hub. Why does my program give me a syntax error? • If you have pasted code from an external source or text editor, it might contain "curly" quotation marks ( “ ...” ) in places that require straight quotes ("..."). You may need to replace some or all of the curly quotes. • The syntax rules are slightly different between the TI CE graphing calculator and TI-Nspire™ CX technology. Code originally created for one platform may need to be modified to work on the other. • On the TI CE graphing calculator, make sure you don't have a space character at the end of a line of code. To find these trailing spaces in a line, move the cursor to the line and press y ~. Adjacent spaces in code can also cause a syntax error. How do I stop a program that becomes unresponsive? • TI CE graphing calculator: Press the É key. • TI-Nspire™ CX Handheld: Hold down the c key and press · repeatedly. • Windows®: Hold down the F12 key and press Enter repeatedly. • Mac®: Hold down the F5 key and press Enter repeatedly. Why do I get an error when I try to update the TI-Innovator™ Sketch? • For sketch updating, make sure you are using the USB Standard A to Micro cable, not the USB Standard A to Mini-B cable. Connect the micro end of the cable to the PWR connector at the top of the Hub. • Make sure you are using one of the Web browsers required for updating. See Updating the Hub Software (page 7). TI-Innovator™ Technology Getting Started Guide 27 Learn More To find more troubleshooting information, see the TI-Innovator™ Technology eGuide (page ii). 28 TI-Innovator™ Technology Getting Started Guide General Precautions TI-Innovator™ Hub • Do not expose the Hub to temperatures above 140˚F (60˚C). • Do not disassemble or mistreat the Hub. • Do not chain together multiple Hubs through the I/O ports or the Breadboard Connector. • Use only the USB cables provided with the Hub. • Use only the TI provided power supplies: - TI Wall Charger included with the TI-Innovator™ Hub Optional External Battery Pack 4AA battery holder included in the TI-Innovator™ Breadboard Pack • Ensure that the components receiving power from the Hub do not exceed the Hub's 1-amp power limit. • Avoid using the Hub to control AC electricity. Breadboard Connector on the Hub • Do not insert the leads of LEDs and other components directly into the Hub’s Breadboard Connector. Assemble the components on the breadboard and use the provided jumper cables to connect the breadboard to the Hub. • Do not connect the 5V receptacle pin on the Hub's Breadboard Connector to any of the other pins, especially the ground pins. Doing so could damage the Hub. • Connecting the top row of receptacle pins (BB1-10) to the bottom row (grounding and power pins) is not recommended. • No pin on the Hub's Breadboard Connector can sink or source greater than 4 mA. Breadboard • Do not connect the positive and negative leads of a power source to the same group of 5 pins on the breadboard. Doing so could damage the breadboard and the power source. • Observe the correct polarity: - When connecting the breadboard to the Hub. When connecting components that are sensitive to polarity, such as LEDS and the TTL Power MOSFET. I/O Modules • Use the correct Input or Output port as required for each module. - Vibration Motor – supported on OUT 1, OUT 2, and OUT 3. Servo Motor – use OUT 3 only. - White LED – supported on OUT 1, OUT 2, and OUT 3. Analog Light Sensor – supported on IN 1, In 2, and IN 3. Ultrasonic Ranger – supported on IN 1, IN 2. TI-Innovator™ Technology Getting Started Guide 29 • Use an Auxiliary Power Source for modules that require more than 50 mA, including: - • • Do not hold the Servo Motor’s shaft while it is rotating. Also, do not rotate the Servo Motor by hand. White LED: - • Vibration Motor Servo Motor Do not bend the leads repeatedly; this will weaken the wires and may cause them to break. The LED requires the correct polarity when inserted into its socket. For details, refer to the instructions for assembling the LED in the TI-Innovator™ Technology eGuide (page ii). The LED requires the correct polarity when inserted into its socket. For details, refer to the instructions for assembling the LED (page 63). No I/O module can sink or source greater than 4 mA. TI-Innovator™ Rover • Do not expose the Rover to temperatures above 140˚F (60˚C). • Do not disassemble or mistreat the Rover. • Do not put anything heavier than 1 Kg or 2.2 lbs on the Rover platform. • Use only the USB cables provided with the TI-Innovator™ Hub. • Use only the Ribbon cables provided with the Rover. • Use only the TI provided wall charger included with the Hub. • The front-mounted Ultrasonic Ranger will detect objects within 4 meters of the Rover. For best results make sure the object's surface is bigger than a folder. If used to detect small objects, such as a cup, place the Rover within 1 meter of the object. • For best results, leave the Slide Case off of your graphing calculator. • For best performance, use Rover on the floor, not on tables. Damage may occur from Rover falling off a table. • For best performance, use Rover on a hard surface. Carpet may cause the Rover wheels to catch or drag. • Do not turn the Holder pegs on the Calculator Platform without lifting them first. They could break. • When securing a marker in the Marker Holder avoid over-tightening the screw. • Do not use the marker as a lever to pull or push the Rover. • Do not unscrew the case enclosure on the bottom of the Rover. Encoders have sharp edges that should not be exposed. • Do not move Rover after executing a program. The internal gyroscope may unintentionally try to get the Rover back on track using the initial location. 30 TI-Innovator™ Technology Getting Started Guide • When inserting the Breadboard Ribbon Cable into the Hub Breadboard Connector, it is critical that you insert the cable correctly. Make sure the red (dark) wire pin is inserted into the 5v hole on the Hub's Breadboard Connector. TI-Innovator™ Technology Getting Started Guide 31 Caution: If you dislodge or disconnect any of the cables, use this image as a reference for correct hookups. Reference to Bottom View 32 TI-Innovator™ Technology Getting Started Guide TI-Innovator™ Hub Commands version 1.2 Use the Hub menus to create or edit a program. They can save you time building commands and help you with correct command spelling and syntax. When you see "Code Sample" in a command table, this "Code Sample" may be copied and pasted as is to send to your graphing calculator to use in your calculations. Example: Code Sample: Send("RV FORWARD") Send("RV FORWARD SPEED 0.2 M/S TIME 10") Note: To build a command from the Hub menu, you need to know: • The unique name of the component that you are addressing, such as "SOUND" for the on-board speaker. • The command parameters that apply to the component, such as sound frequency and duration. Some parameters are optional, and you might need to know the value range of a parameter. Understanding Syntax • Capitalized words are keywords • Lower case words are placeholders for numbers • Commands within brackets are optional parameters For example in: SET LIGHT ON [[BLINK|TOGGLE] frequency] [[TIME] seconds], "frequency" is entered as "1" and "seconds" is entered as "10". Send("SET LIGHT 1 BLINK 2 TIME 10") NOTE : The commands listed below are for the TI-84 Plus CE Hub Menu. If you are using TI-Nspire™ CX technology the parentheses are omitted. In addition, you will notice some other minor differences in the commands such as "Endfor" instead of "End" with the TI-Nspire™ CX technology. Screenshots are provided for reference. HUB Menus – – – – – – – TI-84 Plus CE TI-Nspire™ CX Send("SET... Send("READ... Settings Wait Get( eval( Rover (RV) ... TI-Innovator™ Hub Commands version 1.2 33 – – – – – – – – Send("CONNECT-Output... Send("CONNECT-Input... Ports... Send("RANGE... Send("AVERAGE... Send("DISCONNECT-Output... Send("DISCONNECT-Input... Manage... Send("SET... • TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX SET – – – – – – – – – – – LIGHT COLOR COLOR.RED COLOR.GREEN COLOR.BLUE SOUND LED SPEAKER BUZZER RELAY SERVO – – – – – – – – SERVO.CONTINOUS DCMOTOR VIB.MOTOR SQUAREWARE RGB ANALOG.OUT DIGITAL.OUT AVERAGING Additional Set Commands Send("READ... • READ BRIGHTNESS DHT RANGER – – – 34 TI-Innovator™ Hub Commands version 1.2 LOUDNESS LIGHTLEVEL TEMPERATURE SWITCH BUTTON MOTION POTENTIOMETER MOISTURE THERMISTOR ANALOG.IN DIGITAL.IN AVERAGING Additional READ Commands – – – – – – – – – – – – Settings... • TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX Wait Get( • TI-Nspire™ CX Settings – ON – OFF – TO – TIME – BLINK – TEMPERATURE – HUMIDITY – CW – CCW – TOGGLE Wait • TI-84 Plus CE Get( TI-Innovator™ Hub Commands version 1.2 35 eval( • Rover (RV)... – – – – – – – – – CONNECT-Output LIGHT COLOR SOUND LED SPEAKER BUZZER RELAY SERVO SERVO.CONTINUOUS DCMOTOR SQUAREWAVE RGB – – – – – – – – – – – – 36 TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX Drive RV… Read RV Sensors… RV Settings… Read RV Path… RV Color… RV Setup… RV Control… Send "CONNECT RV" Send "DISCONNECT RV" Send("CONNECT-Output... • TI-84 Plus CE eval( TI-Innovator™ Hub Commands version 1.2 – – ANALOG.OUT DIGITAL.OUT Send("CONNECT-Input... • Ports... • TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX CONNECT-Input – BRIGHTNESS – DHT – RANGER – LOUDNESS – LIGHTLEVEL – TEMPERATURE – SWITCH – BUTTON – MOTION – POTENTIOMETER – MOISTURE – THERMISTOR – ANALOG.IN – DIGITAL.IN Ports – OUT 1 – OUT 2 – OUT 3 – IN 1 – IN 2 – IN: 3 – I2C – BB 1 – BB 2 – BB 3 – BB 4 – BB 5 – BB 6 – BB 7 – BB 8 – BB 9 TI-Innovator™ Hub Commands version 1.2 37 – BB 10 Send("RANGE... • TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX RANGE – BRIGHTNESS – LOUDNESS – LIGHTLEVEL – TEMPERATURE – POTENTIOMETER – MOISTURE – THERMISTOR – ANALOG.IN Send("AVERAGE... AVERAGE BRIGHTNESS LOUDNESS LIGHTLEVEL TEMPERATURE POTENTIOMETER MOISTURE THERMISTOR ANALOG.IN Additional AVERAGE Commands • – – – – – – – – Send("DISCONNECT-Output... • DISCONNECT-Output... LIGHT COLOR SOUND LED SPEAKER BUZZER RELAY SERVO SERVO.CONTINUOUS DCMOTOR – – – – – – – – – – 38 TI-Innovator™ Hub Commands version 1.2 – – – – SQUAREWAVE RGB ANALOG.OUT DIGITAL.OUT Send("DISCONNECT-INPUT... • TI-84 Plus CE TI-Nspire™ CX TI-84 Plus CE TI-Nspire™ CX DISCONNECT-Input... BRIGHTNESS DHT RANGER LOUDNESS LIGHTLEVEL TEMPERATURE SWITCH BUTTON MOTION POTENTIOMETER MOISTURE THERMISTOR ANALOG.IN DIGITAL.IN – – – – – – – – – – – – – – MANAGE • MANAGE BEGIN ISTI WHO WHAT HELP VERSION ABOUT – – – – – – – Additional Supported Commands Not Found in the Hub Menu • Additional SET Commands FORMAT ERROR STRING/NUMBER FORMAT ERROR NOTE/QUIET FLOW [TO] ON/OFF – – – TI-Innovator™ Hub Commands version 1.2 39 – • OUT1/2/3 [TO] Additional READ Commands ANALOG.OUT BUZZER COLOR – RED – GREEN – BLUE – DCMOTOR i – DIGITAL.OUT i – FORMAT – FLOW – IN1/IN2/IN3 – LAST ERROR – LED i – LIGHT – OUT1/2/3 – PWR – RELAY i – RESOLUTION – RGB i – RED i – GREEN i – BLUE i – SERVO i – SERVO i CALIBRATION – SOUND – SPEAKER i – SQUAREWAVE i – – – • • Additional AVERAGE Commands – PERIOD Additional CALIBRATE Commands CALIBRATE – SERVO i minimum maximum – TEMPERATURE i c1 c2 c3 r – THERMISTOR i c1 c2 c3 r – 40 TI-Innovator™ Hub Commands version 1.2 TI-Innovator™ Hub Commands version 1.2 41 SET The SET command is used to generate outputs on pins or ports, or control output devices such as LEDs, Servo motors, speaker tones, or other output operations. It is also used to control a variety of system settings. These include formatting of error information, and communications flow control. SET does NOT generate any response that requires reading. The success or failure of a SET command may be determined by sending a READ LAST ERROR command and obtaining the response to that command. The sensors, controls, and settings that SET can operate against are in the following table. SET something' Command: SET Command Syntax: SET Code Sample: Range: Describe: Used to set options, or output states, or provide information used to control an external actuator or output device, such as turning on a RELAY. Result: Type or Addressable Component: TI-84 Plus CE 42 TI-Innovator™ Hub Commands version 1.2 TI-Nspire™ CX LIGHT [TO] ON/OFF Command: LIGHT [TO] ON/OFF Command Syntax: SET LIGHT ON [[BLINK|TOGGLE] frequency] [[TIME] seconds] SET LIGHT OFF - same as LED, but for on-board red LED. Range: Describe: Provides control over the on-board digital RED LED. Set optional blink frequency and duration. SET LIGHT ON [[BLINK|TOGGLE] frequency] [[TIME] seconds] SET LIGHT OFF Result: Turns on LIGHT. Turns off LIGHT Type or Addressable Component: Control COLOR [TO] r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: COLOR [TO] r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET COLOR r g b [[BLINK|TOGGLE] frequency] [[TIME]seconds] SET COLOR.component x [[BLINK|TOGGLE] frequency] [[TIME]seconds] Range: Describe: On-board COLOR RGB LED with sub-components .RED, .GREEN , .BLUE. Can have a blink frequency, and blink time for entire item, or for each component individually, as well as PWM levels given individually, or at one time. Result: Where r g b is r-value g-value b-value respectively, or operators from ON/OFF/UP/DOWN/STOP. Type or Addressable Component: Control See Also: TI-Innovator™ Hub Commands version 1.2 43 COLOR.RED [TO] r [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: COLOR.RED [TO] r [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: Send("SET COLOR.RED...") ON/OFF/UP/DOWN/STOP/0-255 (red element) [BLINK frequency] (in Hz) [TIME duration] (in secs) Range: Describe: RED component of On-board COLOR RGB LED. Can have a blink frequency, and blink time for entire item, or for each component individually, as well as PWM levels given individually, or at one time. Result: Where r is red level, or operators from ON/OFF/UP/DOWN/STOP. Type or Addressable Component: Control COLOR.GREEN [TO] g [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: COLOR.GREEN [TO] g [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET COLOR.GREEN [TO] g [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: GREEN component of On-board COLOR RGB LED. Can have a blink frequency, and blink time for entire item, or for each component individually, as well as PWM levels given individually, or at one time. Result: Where g is green level, or operators from ON/OFF/UP/DOWN/STOP. Type or Addressable Component: Control 44 TI-Innovator™ Hub Commands version 1.2 COLOR.BLUE [TO] b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: COLOR.BLUE [TO] b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET COLOR.BLUE [TO] b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: BLUE component of On-board COLOR RGB LED. Can have a blink frequency, and blink time for entire item, or for each component individually, as well as PWM levels given individually, or at one time. Result: Where b is blue level, or operators from ON/OFF/UP/DOWN/STOP. Type or Addressable Component: Control SOUND [TO] frequency [[TIME] seconds] Command: SOUND [TO] frequency [[TIME] seconds] Command Syntax: SET SOUND frequency [[TIME] seconds] Range: Describe: SOUND is the on-board speaker and can generate a sound with a specified frequency. If not specified, sound will play for 1 second default. SET SOUND frequency [[TIME] seconds] Result: Play tone through on-board speaker. Type or Addressable Component: Control SOUND OFF/0 Command: SOUND OFF/0 Command Syntax: SET SOUND 0 TI-Innovator™ Hub Commands version 1.2 45 Command: SOUND OFF/0 Range: Describe: SOUND is the on-board speaker and can generate a sound with a specified frequency. If not specified, sound will play for 1 second default. SET SOUND 0 – turns off sound on internal speaker immediately. Result: Stop playing sound. Type or Addressable Component: Control LED i [TO] ON/OFF Command: LED i [TO] ON/OFF Command Syntax: SET LED i ON/ OFF [[BLINK|TOGGLE] frequency] [[TIME] seconds] – digital LED (on or off only) Range: Describe: Provides control over an external LED to set optional blink frequency and duration, as well as PWM capability if the associated pin connected to the LED supports it. SET LED i ON [[BLINK|TOGGLE] frequency] [[TIME] seconds] – digital LED (on or off only) SET LED i OFF – turns off LED (same as SET LED i 0). Result: Turns on LED. Turns off LED When connected to an Analog-PWM pin. Type or Addressable Component: Control 46 TI-Innovator™ Hub Commands version 1.2 LED i [TO] 0-255 Command: LED i [TO] 0-255 Command Syntax: SET LED i 0-255 [[BLINK|TOGGLE] frequency] [[TIME] seconds] – analog LED (pwm duty cycyle) Range: Describe: Provides control over an external LED to set optional blink frequency and duration, as well as PWM capability if the associated pin connected to the LED supports it. SET LED i 0-255 [[BLINK|TOGGLE] frequency] [[TIME] seconds] – analog LED (pwm duty cycyle) Result: When connected to an Analog-PWM pin. Type or Addressable Component: Control SPEAKER i [TO] frequency [[TIME] seconds] Command: SPEAKER i [TO] frequency [[TIME] seconds] Command Syntax: SET SPEAKER i [TO] frequency [[TIME] seconds] Range: Describe: Same as SOUND above, except sound is played on an external speaker attached to a digital output pin, available on any IN/OUT port, or the breadboard connector port. Note: On-board SOUND and external SPEAKER cannot be used concurrently. Result: Play tone with frequency given, optional duration in milliseconds, default = 1 second. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 47 BUZZER i [TO] ON [TIME seconds] Command: BUZZER i [TO] ON [TIME seconds] Command Syntax: SET BUZZER i ON [[TIME] seconds] Range: Describe: Used to turn ON or OFF a tone on an active BUZZER for either 1 second default, or given length of time. SET BUZZER i ON [[TIME] seconds] Result: Sound tone on ACTIVE buzzer for 1 second, or specified duration in seconds. Type or Addressable Component: Control BUZZER i [TO] OFF Command: BUZZER i [TO] OFF Command Syntax: SET BUZZER i OFF Range: Describe: Used to turn ON or OFF a tone on an active BUZZER for either 1 second default, or given length of time. SET BUZZER i OFF Result: Turn off tone on active buzzer. Type or Addressable Component: Control RELAY i [TO] ON/OFF Command: RELAY i [TO] On/Off Command Syntax: SET RELAY i ON/OFF /0/1 [[TIME] seconds]. 48 TI-Innovator™ Hub Commands version 1.2 Command: RELAY i [TO] On/Off Range: Turns the specified RELAY ON or OFF for the given specified TIME in seconds. Describe: Control interface to an external RELAY control. SET RELAY i ON/OFF/1/0 [[TIME] seconds] Result: Turns RELAY on or off Type or Addressable Component: Control RELAY SERVO i [TO] position Command: SERVO i [TO] position Command Syntax: SET SERVO i [TO] position. Code Sample: Range: Describe: Servo motor control interface. Servos can be either continuous or sweep style servos. Position = value from -90 to 90, ranged to -90 to 90) - used with SWEEP SERVOS Result: Sweep servos: position is a value from -90 to 90. Value 0 is same as specifying ZERO. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 49 SERVO i [TO] STOP Command: SERVO i [TO] STOP Command Syntax: SET SERVO i STOP Code Sample: Send("SET SERVO 1 STOP") Range: Describe: Servo motor control interface. Servos can be either continuous or sweep style servos. Note: Sweep style servos will stop automatically at the end of the sweep. SET SERVO i STOP – stops motion on servo Result: Halt any continuous servo operation in progress. Turn SERVO Off Type or Addressable Component: Control SERVO i [TO] ZERO Command: SERVO i [TO] ZERO Command Syntax: SET SERVO i ZERO/position Code Sample: Send("SET SERVO 1 ZERO") Range: Describe: Set servo to zero position on sweep servo, or no motion on continuous servo. Result: Sweep servos: position is a value from -90 to 90. Value 0 is same as specifying ZERO. Type or Addressable Component: Control 50 TI-Innovator™ Hub Commands version 1.2 SERVO i [TO] [CW/CCW] speed [[TIME] seconds] Command: SERVO i [TO] [CW/CCW] speed [[TIME] seconds] Command Syntax: SET SERVO i CW/CCW speed [[TIME] seconds] Code Sample: Send("SET SERVO.CONTINUOUS 1 CW 100 TIME 3") Wait 3 Range: Describe: Speed from -100 to 100, CW/CCW optional, if speed <0, CCW, else CW unless CW/CCW keyword is specified, TIME optional, in seconds, default=1 second (for continuous servo operation) (CW/CCW required if TIME/seconds NOT specified.) Result: Continuous servo where direction of rotation is specified, along with speed, from 0 (no motion) to 100 (fastest). Optional time parameter used to specify how long the servo should rotate in seconds. Type or Addressable Component: Control DCMOTOR i [TO] frequency [duty [[TIME] seconds]] Command: DCMOTOR i [TO] frequency [duty [[TIME] seconds]] Command Syntax: SET DCMOTOR i frequency [duty] Range: Describe: Generates a specific frequency and duty cycle digital pulse to a motor. SET DCMOTOR i frequency [duty] Result: Generate a digital pulse at given frequency from 1 to 500 hz at 1-99 % duty cycle; shares number-space with SQUAREWAVE. duty=50% default, seconds=1.0 default. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 51 DCMOTOR i OFF Command: DCMOTOR i OFF Command Syntax: SET DCMOTOR i OFF Range: Describe: Generates a specific frequency and duty cycle digital pulse to a motor. SET DCMOTOR i OFF Result: Stop motor. Type or Addressable Component: Control VIB.MOTOR i [TO] PWM Command: VIB.MOTOR i [TO] PWM Command Syntax: SET VIB.MOTOR i [TO] PWM Range: PWM from 0 (none) and 255 (full on) Describe: Vibration motor control interface. Result: Vibrations : intensity is a value from 0 to 255. Type or Addressable Component: Control VIB.MOTOR i [TO] OFF|STOP Command: VIB.MOTOR i [TO] OFF|STOP Command Syntax: SET VIB.MOTOR i OFF|STOP 52 TI-Innovator™ Hub Commands version 1.2 Command: VIB.MOTOR i [TO] OFF|STOP Range: Describe: Vibration motor control interface. SET VIB.MOTOR i OFF|STOP – stops motion on vibrations Result: Shut down vibration motor. Type or Addressable Component: Control VIB.MOTOR i [TO] 0-255/UP/DOWN/ON/OFF [[BLINK|TOGGLE] freq] [[TIME] seconds] Command: VIB.MOTOR i [TO] 0-255/UP/DOWN/ON/OFF [[BLINK|TOGGLE] freq] [[TIME] seconds] Command Syntax: SET VIB.MOTOR i 0-255/UP/DOWN/ON/OFF [[BLINK|TOGGLE] freq] [[TIME] seconds] Range: PWM from 0 (none) and 255 (full on) Describe: Run vibration motor with numerous options Result: Run vibration motor with numerous options Optional time parameter used to specify how long the vibration should rotate in seconds. Type or Addressable Component: Control SQUAREWAVE i [TO] frequency [duty [[TIME] seconds]] Command: SQUAREWAVE i [TO] frequency [duty [[TIME] seconds]] Command Syntax: SET SQUAREWAVE i frequency [duty] Range: TI-Innovator™ Hub Commands version 1.2 53 Command: SQUAREWAVE i [TO] frequency [duty [[TIME] seconds]] Describe: SQUAREWAVE is used to generate a square wave form with a default duty cycle of 50% with frequencies from 0.1 Hz to 500 Hz. frequencies slower than 0.1 Hz are set to 0.1 Hz. frequencies above 500 Hz are set to 500 Hz. The optional duty cycle is a value from 1 to 99. SET SQUAREWAVE i frequency [duty] Result: Generate a digital squarewave from 1 to 500 hz at 1-99 duty cycle on up to 6 pins (i=1-4) duty=50% default, seconds=1.0 default. Type or Addressable Component: Control SQUAREWAVE i OFF Command: SQUAREWAVE i OFF Command Syntax: SET SQUAREWAVE i OFF frequency [duty] Range: Describe: SQUAREWAVE is used to generate a square wave form with a default duty cycle of 50% with frequencies from 0.1 Hz to 500 Hz. frequencies slower than 0.1 Hz are set to 0.1 Hz. frequencies above 500 Hz are set to 500 Hz. The optional duty cycle is a value from 1 to 99. SET SQUAREWAVE i OFF – turn off squarewave generation Result: Stop generating squarewave output. Type or Addressable Component: Control 54 TI-Innovator™ Hub Commands version 1.2 RGB i [TO] r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: RGB i [TO] r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET RGB i r g b [[BLINK|TOGGLE] frequency] [[TIME]seconds] Range: Describe: External RGB LED controls, with same options as available for the onboard COLOR object. Individual color components can be addressed with the same index value i by name, RED i, GREEN i, BLUE i. Result: Where r g b is r-value g-value b-value respectively, or operators from ON/OFF/STOP. Type or Addressable Component: Control RED i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: RED i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET.RED i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: RED component of External RGB LED controls, with same options as available for the on-board COLOR object. Individual color components can be addressed with the same index value i by name, RED i, GREEN i, BLUE i. Result: Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 55 GREEN i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: GREEN i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET.GREEN i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: GREEN component of External RGB LED controls, with same options as available for the on-board COLOR object. Individual color components can be addressed with the same index value i by name, RED i, GREEN i, BLUE i. Result: Type or Addressable Component: Control BLUE i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: BLUE i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET.BLUE i [TO] ON/OFF/UP/DOWN/value [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: BLUE component of External RGB LED controls, with same options as available for the on-board COLOR object. Individual color components can be addressed with the same index value i by name, RED i, GREEN i, BLUE i. Result: Type or Addressable Component: 56 Control TI-Innovator™ Hub Commands version 1.2 ANALOG.OUT i [TO] Command: ANALOG.OUT i [TO] Command Syntax: SET ANALOG.OUT i 0-255 [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: Software (or hardware, if available) generated pulse-width modulation output at 490 Hz with the specified duty cycle between 0 (off) and 255 (on). The PWM output can be toggled at a frequency from 0.1 to 20.0 Hz for a given duration. If no duration is given, the PWM continues until stopped or turned off. SET ANALOG.OUT i 0-255 [[BLINK|TOGGLE] frequency] [[TIME] seconds] Result: Generate pwm value (hw or sw) on analog output object. Type or Addressable Component: Control ANALOG.OUT i OFF|STOP Command: ANALOG.OUT i OFF|STOP Command Syntax: SET ANALOG.OUT i OFF SET ANALOG.OUT i STOP Range: Describe: Software (or hardware, if available) generated pulse-width modulation output at 490 Hz with the specified duty cycle between 0 (off) and 255 (on). The PWM output can be toggled at a frequency from 0.1 to 20.0 Hz for a given duration. If no duration is given, the PWM continues until stopped or turned off. SET ANALOG.OUT i OFF SET ANALOG.OUT i STOP Result: Turn off pwm on associated pin, including blinking, etc. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 57 DIGITAL.OUT i [TO] ON/OFF/HIGH/LOW/[[BLINK|TOGGLE] frequency] [[TIME] seconds] Command: DIGITAL.OUT i [TO] ON/OFF/HIGH/LOW/[[BLINK|TOGGLE] frequency] [[TIME] seconds] Command Syntax: SET DIGITAL.OUT i [TO] ON/OFF/HIGH/LOW [[BLINK|TOGGLE] frequency] [[TIME] seconds] Range: Describe: Used to generate output digital signal(s). SET DIGITAL.OUT i ON/OFF/HIGH/LOW [[BLINK|TOGGLE] frequency] [[TIME] seconds] Result: Digital.out operations. Type or Addressable Component: Control DIGITAL.OUT i [TO] OUTPUT/CLOCK Command: DIGITAL.OUT i [TO] OUTPUT/CLOCK Command Syntax: SET DIGITAL.OUT i [TO] OUTPUT/CLOCK Range: Describe: Output or drive a clock pulse - digital.out other operations. Result: Output or drive a clock pulse - digital.out other operations. Type or Addressable Component: Control DIGITAL.IN i [TO] INPUT/PULLUP/PULLDOWN Command: DIGITAL.IN i [TO] INPUT/PULLUP/PULLDOWN Command Syntax: SET DIGITAL.IN i [TO] INPUT/PULLUP/PULLDOWN Range: Describe: 58 Used for Pulldown and/or pullup control for digital.in operations. TI-Innovator™ Hub Commands version 1.2 Command: DIGITAL.IN i [TO] INPUT/PULLUP/PULLDOWN Result: Pulldown and pullup control for digital.in operations. Type or Addressable Component: Control AVERAGING [TO] n Command: AVERAGING [TO] n Advanced user Command Syntax: AVERAGING.[TO] n Range: Describe: Global setting for how many times we sample analog inputs when obtaining a reading from a sensor using analog input n - (global default) Result: Sample analog inputs 'n' times, averaging results (default is 3 unless changed; sets "global" averaging value.) Type or Addressable Component: Setting Default if not set with this command is 3 Note: Global averaging value can be individually overridden by sensor by using the AVERAGING command on an item. TI-Innovator™ Hub Commands version 1.2 59 READ The READ command generates responses based on what is being requested. Tells the Innovator to obtain data from the specified sensor, control, port, pin, or status information including the setup of the hub, such as flow control, error settings, etc. Must be followed by a Get() operation to receive the requested data. TI-84 Plus CE TI-Nspire™ CX BRIGHTNESS Command: BRIGHTNESS Command Syntax: READ BRIGHTNESS Range: Describe: Returns the current internal reading from the on-board ambient light sensor. Note the optional keywords of RANGE and AVERAGE can be appended to the command to return the current RANGE setting for the BRIGHTNESS sensor if set or the current AVERAGE value applied when reading the ADC to obtain the reading. READ BRIGHTNESS Result: Read on-board light sensor level. Type or Addressable Component: Control 60 TI-Innovator™ Hub Commands version 1.2 BRIGHTNESS AVERAGE Command: BRIGHTNESS AVERAGE Advanced user Command Syntax: READ BRIGHTNESS.AVERAGE Range: Describe: Returns the current internal reading from the on-board ambient light sensor. Note the optional keywords of RANGE and AVERAGE can be appended to the command to return the current RANGE setting for the BRIGHTNESS sensor if set or the current AVERAGE value applied when reading the ADC to obtain the reading. READ BRIGHTNESS AVERAGE Result: Read on-board light sensor level. Type or Addressable Component: Control BRIGHTNESS RANGE Command: BRIGHTNESS RANGE Advanced user Command Syntax: READ BRIGHTNESS.RANGE Range: Describe: Returns the current internal reading from the on-board ambient light sensor. Note the optional keywords of RANGE and AVERAGE can be appended to the command to return the current RANGE setting for the BRIGHTNESS sensor if set or the current AVERAGE value applied when reading the ADC to obtain the reading. READ BRIGHTNESS RANGE Result: Read on-board light sensor level. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 61 DHT i Command: DHT i Command Syntax: READ DHT i Range: Temperature reading default is in Celsius Humidity reading from 0 to 100 % Describe: Returns a list consisting of the current temperature, humidity, type of sensor, and last cached read status. The temperature and humidity can be obtained by themselves by appending the TEMPERATURE or HUMIDITY keywords to the end of the command. The type of sensor is indicated by a 1 for a DHT11, and a 2 for DHT22 style sensors. The status values are: 1=OK, 2=Timeout, 3=Checksum/bad reading. READ DHT i – returns full cached information from last reading the DHT task obtained. READ DHT i TEMPERATURE – returns latest temperature reading. READ DHT i HUMIDITY – returns latest humidity reading. Result: Return list with current temperature in C, humidity in %, type(1=DHT11, 2=DHT22), and status (type/status only available in full list). Where the status = 1:OK, =2:Timeout, =3:Checksum. Type or Addressable Component: Sensor DHT i TEMPERATURE Command: DHT i TEMPERATURE Command Syntax: READ DHT i TEMPERATURE Range: Temperature reading default is in Celsius Humidity reading from 0 to 100 % Describe: Returns a list consisting of the current temperature, humidity, type of sensor, and last cached read status. The temperature and humidity can be obtained by themselves by appending the TEMPERATURE or HUMIDITY keywords to the end of the command. The type of sensor is indicated by a 1 for a DHT11, and a 2 for DHT22 style sensors. The status values are: 62 TI-Innovator™ Hub Commands version 1.2 Command: DHT i TEMPERATURE 1=OK, 2=Timeout, 3=Checksum/bad reading. READ DHT i – returns full cached information from last reading the DHT task obtained. READ DHT i TEMPERATURE – returns latest temperature reading. READ DHT i HUMIDITY – returns latest humidity reading. Result: Returns temperature component. Type or Addressable Component: Sensor DHT i HUMIDITY Command: DHT i HUMIDITY Command Syntax: READ DHT i HUMIDITY Range: Temperature reading default is in Celsius Humidity reading from 0 to 100 % Describe: Returns a list consisting of the current temperature, humidity, type of sensor, and last cached read status. The temperature and humidity can be obtained by themselves by appending the TEMPERATURE or HUMIDITY keywords to the end of the command. The type of sensor is indicated by a 1 for a DHT11, and a 2 for DHT22 style sensors. The status values are: 1=OK, 2=Timeout, 3=Checksum/bad reading. READ DHT i – returns full cached information from last reading the DHT task obtained. READ DHT i TEMPERATURE – returns latest temperature reading. READ DHT i HUMIDITY – returns latest humidity reading. Result: Returns humidity component. Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 63 RANGER i Command: RANGER i Command Syntax: READ RANGER i Range: Describe: Return the current distance measurement from the specified ultrasonic ranging device; distance in meters. If no measurement is made due to the distance being too far; a value of 0 will be returned. Valid measurements are in +meters. Result: Read distance in meters from distance sensor. Type or Addressable Component: Sensor LOUDNESS i Command: LOUDNESS i Command Syntax: READ LOUDNESS i Range: Describe: Return the current analog level reported by the sound loudness level sensor specified. Supports the AVERAGE and RANGE options. READ LOUDNESS i READ LOUDNESS i AVERAGE READ LOUDNESS i RANGE Result: Return level of sound detected by sound sensor. Type or Addressable Component: Sensor 64 TI-Innovator™ Hub Commands version 1.2 LOUDNESS i AVERAGE Command: LOUDNESS i Advanced user Command Syntax: READ LOUDNESS i AVERAGE Range: Describe: Return the current analog level reported by the sound loudness level sensor specified. Supports the AVERAGE and RANGE options. READ LOUDNESS i AVERAGE Result: Return level of sound detected by sound sensor. Type or Addressable Component: Sensor LOUDNESS i RANGE Command: LOUDNESS i RANGE Advanced user Command Syntax: READ LOUDNESS i.RANGE Range: Describe: Return the current analog level reported by the sound loudness level sensor specified. Supports the AVERAGE and RANGE options. READ LOUDNESS i READ LOUDNESS i AVERAGE READ LOUDNESS i RANGE Result: Return level of sound detected by sound sensor. Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 65 LIGHTLEVEL i Command: LIGHTLEVEL i Command Syntax: READ LIGHTLEVEL i Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Returns the current ADC value from the specified external light sensor. External light sensors may be analog, or I2C (BH1750FVI I2C Light sensor). When an analog sensor is present, it is generally assumed to be a photodiode. Additionally, the light level sensor may have AVERAGE and/or RANGE values specified. These can be obtained by appending the AVERAGE or RANGE keywords to the READ command. READ LIGHTLEVEL i READ LIGHTLEVEL i AVERAGE READ LIGHTLEVEL i RANGE Result: Read analog value of light sensor (uses averaging), or I2C (value in LUX returned). Type or Addressable Component: Sensor LIGHTLEVEL i AVERAGE Command: LIGHTLEVEL i AVERAGE Advanced user Command Syntax: READ LIGHTLEVEL i AVERAGE Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Returns the current ADC value from the specified external light sensor. External light sensors may be analog, or I2C (BH1750FVI I2C Light sensor). When an analog sensor is present, it is generally assumed to be a photodiode. Additionally, the light level sensor may have AVERAGE and/or RANGE values specified. These can be obtained by appending the AVERAGE or RANGE keywords to the READ command. READ LIGHTLEVEL i AVERAGE Result: Read analog value of light sensor (uses averaging), or I2C (value in LUX 66 TI-Innovator™ Hub Commands version 1.2 Command: LIGHTLEVEL i AVERAGE Advanced user returned). Type or Addressable Component: Sensor LIGHTLEVEL i RANGE Command: LIGHTLEVEL i RANGE Advanced user Command Syntax: READ LIGHTLEVEL i RANGE Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Returns the current ADC value from the specified external light sensor. External light sensors may be analog, or I2C (BH1750FVI I2C Light sensor). When an analog sensor is present, it is generally assumed to be a photodiode. Additionally, the light level sensor may have AVERAGE and/or RANGE values specified. These can be obtained by appending the AVERAGE or RANGE keywords to the READ command. READ LIGHTLEVEL i RANGE Result: Read analog value of light sensor (uses averaging), or I2C (value in LUX returned). Type or Addressable Component: Sensor TEMPERATURE i Command: TEMPERATURE i Command Syntax: READ TEMPERATURE i TI-Innovator™ Hub Commands version 1.2 67 Command: TEMPERATURE i Range: Temperature reading default is in Celsius. The range depends on the specific temperature sensor being used. Humidity reading from 0 to 100 % Describe: Returns the current temperature reading from the associated temperature sensor. The temperature is given, by default, in Celsius. READ TEMPERATURE i Result: Return current temperature reading in Celsius. Type or Addressable Component: Sensor TEMPERATURE i AVERAGE Command: TEMPERATURE i AVERAGE Advanced user Command Syntax: READ TEMPERATURE i AVERAGE Range: Temperature reading default is in Celsius. The range depends on the specific temperature sensor being used. Humidity reading from 0 to 100 % Describe: Returns the current temperature reading from the associated temperature sensor. The temperature is given, by default, in Celsius. READ TEMPERATURE i AVERAGE Result: Return current temperature reading in Celsius. Type or Addressable Component: Sensor 68 TI-Innovator™ Hub Commands version 1.2 TEMPERATURE i CALIBRATION Command: TEMPERATURE i CALIBRATION Advanced user Command Syntax: READ TEMPERATURE i CALIBRATION Range: Temperature reading default is in Celsius. The range depends on the specific temperature sensor being used. Humidity reading from 0 to 100 % Describe: Returns the current temperature reading from the associated temperature sensor. The temperature is given, by default, in Celsius. Result: Returns list with current {c1,c2,c3,r} values used for connected analog temperature sensor. Type or Addressable Component: Sensor SWITCH i Command: SWITCH i Command Syntax: READ SWITCH i Range: Describe: Returns the current state of the associated switch. If the switch is connected, a value of 1 is returned. Not connected returns a value of 0. If the switch was connected since the last reading, but is no longer connected, a value of 2 is returned. READ SWITCH i Result: Returns state of switch (same status as BUTTON object, 0=not pressed, 1=pressed, 2=was pressed). Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 69 BUTTON i Command: BUTTON i Command Syntax: READ BUTTON i Range: Describe: Reads the current cached state of the button. A return value of 0 = not pressed, 1 = currently pressed, 2 = was pressed and released since the last reading. READ BUTTON i Result: Read state of button/switch n - 0=not pressed, 1=pressed, 2=was pressed. Type or Addressable Component: Sensor MOTION i Command: MOTION i Command Syntax: READ MOTION i Range: Describe: Return the current PIR Motion sensor information. PIR Motion sensors are digital in nature, so are treated similar to a button in that the value returned indicates motion presence or not. 0=no motion detected. 1=motion detected. 2=motion was detected. Result: Read state of PIR Motion detector - 0=no motion, 1=motion, 2=motion was detected but none now. Type or Addressable Component: Sensor 70 TI-Innovator™ Hub Commands version 1.2 POTENTIOMETER i Command: POTENTIOMETER i Command Syntax: READ POTENTIOMETER i Range: Describe: Read analog value of the potentiometer (linear or rotary). The optional AVERAGE and RANGE keywords can be appended to the command to obtain the current average count, or mapped range being used, if present, for the given potentiometer. READ POTENTIOMETER i READ POTENTIOMETER i RANGE READ POTENTIOMETER i AVERAGE Result: Read analog value of rotary encoder / potentiometer (uses averaging). Type or Addressable Component: Sensor POTENTIOMETER i AVERAGE Command: POTENTIOMETER i AVERAGE Advanced user Command Syntax: READ POTENTIOMETER i AVERAGE Range: Describe: Read analog value of the potentiometer (linear or rotary). The optional AVERAGE and RANGE keywords can be appended to the command to obtain the current average count, or mapped range being used, if present, for the given potentiometer. READ POTENTIOMETER i AVERAGE Result: Read analog value of rotary encoder / potentiometer (uses averaging). Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 71 POTENTIOMETER i RANGE Command: POTENTIOMETER i RANGE Advanced user Command Syntax: READ POTENTIOMETER i RANGE Range: Describe: Read analog value of the potentiometer (linear or rotary). The optional AVERAGE and RANGE keywords can be appended to the command to obtain the current average count, or mapped range being used, if present, for the given potentiometer. READ POTENTIOMETER i RANGE Result: Read analog value of rotary encoder / potentiometer (uses averaging). Type or Addressable Component: Sensor MOISTURE i Command: MOISTURE i Command Syntax: READ MOISTURE i Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Return the current analog level reported by the moisture sensor specified. Supports the AVERAGE and RANGE options. READ MOISTURE i READ MOISTURE i AVERAGE READ MOISTURE i RANGE Result: Read analog value of moisture sensor (uses averaging). Type or Addressable Component: Sensor 72 TI-Innovator™ Hub Commands version 1.2 MOISTURE i AVERAGE Command: MOISTURE i AVERAGE Advanced user Command Syntax: READ MOISTURE i AVERAGE Range: Describe: Return the current analog level reported by the moisture sensor specified. Supports the AVERAGE and RANGE options. READ MOISTURE i AVERAGE Result: Read analog value of moisture sensor (uses averaging). Type or Addressable Component: Sensor MOISTURE i RANGE Command: MOISTURE i RANGE Command Syntax: READ MOISTURE i RANGE Range: Describe: Return the current analog level reported by the moisture sensor specified. Supports the AVERAGE and RANGE options. READ MOISTURE i RANGE Result: Read analog value of moisture sensor (uses averaging). Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 73 THERMISTOR i Command: THERMISTOR i Command Syntax: READ THERMISTOR i Range: Describe: Returns the current temperature reading from the associated thermistor sensor. Temperature is returned in Celsius. Result: Return current thermistor temperature in Celsius. Type or Addressable Component: Sensor THERMISTOR i AVERAGE Command: THERMISTOR i AVERAGE Advanced user Command Syntax: READ THERMISTOR i AVERAGE Range: Describe: Returns the current temperature reading from the associated thermistor sensor. Temperature is returned in Celsius. Result: Return current thermistor temperature in Celsius. Type or Addressable Component: Sensor THERMISTOR i CALIBRATION Command: THERMISTOR i CALIBRATION Advanced user Command 74 READ THERMISTOR i CALIBRATION TI-Innovator™ Hub Commands version 1.2 Command: THERMISTOR i CALIBRATION Advanced user Syntax: Range: Describe: Returns the current temperature reading from the associated thermistor sensor. Temperature is returned in Celsius. Result: Returns list with current {c1,c2,c3,r} values used for connected thermistor. Type or Addressable Component: Sensor ANALOG.IN i Command: ANALOG.IN i Command Syntax: READ.ANALOG.IN i Range: Describe: Generic analog input sensor. READ ANALOG.IN i – will return the ADC reading on the analog input associated with the object. Result: Reads generic ANALOG.IN input object Type or Addressable Component: Sensor ANALOG.IN i AVERAGE Command: ANALOG.IN i AVERAGE Advanced user Command Syntax: READ.ANALOG.IN i AVERAGE TI-Innovator™ Hub Commands version 1.2 75 Command: ANALOG.IN i AVERAGE Advanced user Range: Describe: READ ANALOG IN i AVERAGE – gets the current averaging value for the object. Result: Reads generic ANALOG.IN input object Type or Addressable Component: Sensor ANALOG.IN i RANGE Command: ANALOG.IN i RANGE Advanced user Command Syntax: READ.ANALOG.IN i RANGE Range: Describe: READ ANALOG IN i RANGE – returns the upper and lower range values associated with the object if specified, or error otherwise Result: Reads generic ANALOG.IN input object Type or Addressable Component: Sensor ANALOG.OUT i Command: ANALOG.OUT i Command Syntax: READ ANALOG.OUT i Range: Describe: Returns current PWM duty cycle if the output is on, or 0 if not on. Result: Reads current PWM duty cycle on pin, 0 if none. 76 TI-Innovator™ Hub Commands version 1.2 Command: ANALOG.OUT i Type or Addressable Component: Control DIGITAL.IN i Command: DIGITAL.IN i Command Syntax: READ DIGITAL.IN i Range: Describe: Returns the current state of the digital pin connected to the DIGITAL object, or the cached state of the digital output value last SET to the object. Result: Return 0 (low), 1 (high). Type or Addressable Component: Control/Sensor AVERAGING Command: AVERAGING Advanced user Command Syntax: READ AVERAGING Range: Describe: Returns the current global setting for the analog averaging default value. Result: Return current oversampling/averaging count for sampling analog inputs (this is the GLOBAL default value currently in use). Type or Addressable Component: Setting TI-Innovator™ Hub Commands version 1.2 77 78 TI-Innovator™ Hub Commands version 1.2 Settings Settings menu contains operations to set the state of digital and analog pin operations such as the LED in the TI-Innovator™ Hub or a connected servo motor movement to states such as ON, OFF, CW (clockwise), and CCW (counterclockwise). – – – – – – – – – – 1: ON 2: OFF 3: TO 4: TIME 5: BLINK 6: TEMPERATURE 7: HUMIDITY 8: CW 9: CCW 0: TOGGLE TI-84 Plus CE TI-Nspire™ CX See : TI-84 Plus CE Programming See: TI-Nspire™ CX Programming Wait Wait suspends execution of a program for a given time. Maximum time is 100 seconds. During the wait time, the busy indicator is on in the top-right corner of the screen. Wait may be used in TI-Innovator™ Hub programs to allow time for sensor or control communications prior to the program executing the next command line. TI-84 Plus CE TI-Nspire™ CX See: TI-84 Plus CE Programming See: TI-Nspire™ CX Programming Wait Command: Wait Command Syntax: Wait timeInSeconds Suspends execution for a period of timeInSeconds seconds. TI-Innovator™ Hub Commands version 1.2 79 Command: Wait Range 0 through 100 Describe: Wait may be used in TI-Innovator™ Hub programs to allow time for sensor or control communications prior to the program executing the next command line. Wait is particularly useful in a program that needs a brief delay to allow requested data to become available. The argument timeInSeconds must be an expression that simplifies to a decimal value in the range 0 through 100. The command rounds this value up to the nearest 0.1 seconds. Note: You can use the Wait command within a user-defined program but not within a function. Result: Wait suspends execution of a program for a given time. Maximum time is 100 seconds. During the wait time, the busy indicator is on in the top-right corner of the screen. Type or Addressable Component: Not Applicable Get( Get( Retrieves a value from a connected TI-Innovator™ Hub and stores the data to a variable on the receiving CE calculator. TI-84 Plus CE Get( command definition is specific to the TI-8x calculator and the cable connection via DBus or USB. The CE calculator is USB connectivity only and here, Get( is designed for communication with the TI-Innovator™ Hub. TI-Nspire™ CX 80 TI-Innovator™ Hub Commands version 1.2 TI-84 Plus CE TI-Nspire™ CX See: TI-84 Plus CE Programming See: TI-Nspire™ CX Programming Get( Command: Get( Command Syntax: TI-84 Plus CE: Get(variable) TI-Nspire™ CX platform: Get [promptString ,] var[, statusVar] Get [promptString ,] func(arg1, ...argn ) [, statusVar] Range Describe: Result: Programming command: Retrieves a value from a connected TIInnovator™ Hub and assigns the value to variable var. The value must be requested: • In advance, through a Send "READ ..." command. — or — • By embedding a "READ ..." request as the optional promptString argument. This method lets you use a single command to request the value and retrieve it. (TI-Nspire™ CX platform only). Implicit simplification takes place. For example, a received string of "123" is interpreted as a numeric value. The information below applies only on the TI-Nspire CX platform: To preserve the string, use GetStr instead of Get . If you include the optional argument statusVar, it is assigned a value based on the success of the operation. A value of zero means that no data was received. In the second syntax, the func() argument allows a program to store the received string as a function definition. This syntax operates as if the program executed the command: Define func(arg1, ...argn) = received string The program can then use the defined function func(). Note: You can use the Get command within a user-defined program but not within a function. Type or Addressable Component: All input devices. TI-Innovator™ Hub Commands version 1.2 81 eval( The software evaluates expression Expr and replaces the eval() statement with the result as a character string. The argument Expr must simplify to a real number. TI-84 Plus CE TI-Nspire™ CX See: TI-84 Plus CE Programming See: TI-Nspire™ CX Programming eval( Command: eval( Command Syntax: eval(Expr) ⇒string Range Describe: The software evaluates expression Expr and replaces the eval() statement with the result as a character string. The argument Expr must simplify to a real number. TI-84 Plus CE: eval() can be used as a standalone command outside a TIInnovator™ Hub command. TI-Nspire™ CX platform: eval() is valid only in the TI-Innovator™ Hub Command argument of programming commands Get , GetStr , and Send. Result: TI-84 Plus CE: For debugging purposes, using the command line Disp Ans immediately after a command line using Send( displays the complete string being sent. TI-Nspire™ CX platform: Although eval() does not display its result, you can view the resulting Hub command string after executing the command by inspecting any of the following special variables. iostr.SendAns iostr.GetAns iostr.GetStrAns Type or 82 Not Applicable TI-Innovator™ Hub Commands version 1.2 Command: eval( Addressable Component: TI-Innovator™ Hub Commands version 1.2 83 ROVER (RV) Menu Rover (RV)... • • • • • • • • • Drive RV… Read RV Sensors… RV Settings… Read RV Path… RV Color… RV Setup… RV Control… Send("CONNECT RV") Send("DISCONNECT RV") 84 TI-Innovator™ Hub Commands version 1.2 TI-84 Plus CE TI-Nspire™ CX Drive RV... RV Drive Command Families • Base Drive Commands (in the spirit of Turtle Graphics) - • FORWARD, BACKWARD, RIGHT, LEFT, STOP, STAY Math Coordinate Drive Commands - Turn to Angle Note: Drive commands have options for Speed, Time and Distance as appropriate • See RV Settings for Machine-Level Control Commands - • Set Left and Right Motor values for direction (CW/CCW) and level (0-255,Coast) Read accumulated values for wheel encoder edges and gyro heading change. Drive RV… – Send("RV – FORWARD – BACKWARD – LEFT – RIGHT – STOP – RESUME – STAY – TO XY (INACTIVE in v1.2 – – TI-84 PlusCE TI-Nspire™ CX Release) TO POLAR (INACTIVE in v1.2 Release) TO ANGLE TI-Innovator™ Hub Commands version 1.2 85 RV FORWARD Command: RV FORWARD Command Syntax: RV FORWARD [[SPEED s] [DISTANCE d] [TIME t]] Code Samples: Send ("RV FORWARD 0.5 M") Send ("RV FORWARD SPEED 0.22 M/S TIME 10") [SET] RV FORWARD [SET] RV FORWARD [DISTANCE] d [M|UNIT|REV] [SET] RV FORWARD [DISTANCE] d [M|UNIT|REV] SPEED s.ss [M/S|[UNIT/S]|REV/S] [SET] RV FORWARD [DISTANCE] d [M|UNIT|REV] TIME t [SET] RV FORWARD SPEED s [M/S|UNIT/S|REV/S] [TIME t] [SET] RV FORWARD TIME t [SPEED s.ss [M/S|[UNIT/S]|REV/S]] Range: N/A Describe: RV moves forward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. Result: Action to make the RV move in a forward direction Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. 86 TI-Innovator™ Hub Commands version 1.2 RV BACKWARD Command: RV BACKWARD Command Syntax: RV BACKWARD Code Sample: Send("RV BACKWARD 0.5 M") Send("RV BACKWARD SPEED 0.22 M/S TIME 10") [SET] RV BACKWARD [SET] RV BACKWARD [DISTANCE] d [M|UNIT|REV] [SET] RV BACKWARD [DISTANCE] d [M|UNIT|REV] SPEED s.ss [M/S|[UNIT/S]|REV/S] [SET] RV BACKWARD [DISTANCE] d [M|UNIT|REV] TIME t [SET] RV BACKWARD SPEED s.ss [M/S|UNIT/S|REV/S] [TIME t] [SET] RV BACKWARD TIME t [SPEED s.ss [M/S|UNIT/S|REV/S]] Range: N/A Describe: RV moves backward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. Result: Action to make the RV move in a backward direction. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Hub Commands version 1.2 87 RV LEFT Command: RV LEFT Command Syntax: RV LEFT Code Sample: Send "RV LEFT" [SET] RV LEFT [ddd [DEGREES]] [SET] RV LEFT [rrr RADIANS] [SET] RV LEFT [ggg GRADIANS] Range: N/A Describe: Default turn is 90 degrees unless DEGREES, RADIANS, or GRADIANS keyword is present, and then the value is converted internally to degrees format from the specified units. Value given is ranged to a value between 0.0 and 360.0 degrees. The turn will be executed as a SPIN motion. Result: Turn Rover to the LEFT. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV RIGHT Command: RV RIGHT Command Syntax: RV RIGHT Code Sample: Send "RV RIGHT" [SET] RV RIGHT [ddd [DEGREES]] [SET] RV RIGHT [rrr RADIANS] [SET] RV RIGHT [ggg GRADIANS] Range: N/A Describe: Default turn is 90 degrees unless DEGREES, RADIANS, or GRADIANS keyword is present, and then the value is converted internally to degrees format from the specified units. Value given is ranged to a value between 0.0 and 360.0 degrees. The turn will be executed as a SPIN motion. Result: Turn Rover to the RIGHT. Type or Control 88 TI-Innovator™ Hub Commands version 1.2 Command: RV RIGHT Addressable Component: Note: This Rover control command is sent and executed in a queue. RV STOP Command: RV STOP Command Syntax: RV STOP Code Sample: Send "RV STOP" [SET] RV STOP [SET] RV STOP CLEAR Range: N/A Describe: The RV will stop any current movement immediately. That movement can be resumed from where it left off with a RESUME operation. Any movement commands will cause the queue to flush immediately, and begin the just-posted new movement operation Result: Stop processing Rover commands from the command queue, and leave pending operations in the queue. (immediate action). Queue can be resumed by RESUME.The RV will stop any current movement immediately. That movement can be resumed from where it left off with a RESUME operation. Any movement commands will cause the queue to flush immediately, and begin the just-posted new movement operation. Stop processing Rover commands from the command queue, and flush any pending operations left in the queue. (immediate action). Type or Addressable Component: Control Note: This Rover control command is executed immediately. RV RESUME Command: RV RESUME Command Syntax: RV RESUME TI-Innovator™ Hub Commands version 1.2 89 Command: RV RESUME Code Sample: Send "RV RESUME" [SET] RV RESUME Range: N/A Describe: Enable processing of Rover commands from the command queue. (immediate action), or resume (see RV STAY) operation. Result: Resume operation. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV STAY Command: RV STAY Command Syntax: RV STAY Code Sample: Send "RV STAY" [SET] RV STAY [[TIME] s.ss] Range: N/A Describe: Tells RV to "stay" in place for an optionally specified amount of time in seconds. Default is 30.0 seconds. Result: RV stays in position. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV TO XY (INACTIVE in v1.2 Release) RV TO POLAR (INACTIVE in v1.2 Release) 90 TI-Innovator™ Hub Commands version 1.2 RV TO ANGLE Command: RV TO ANGLE Command Syntax: RV TO ANGLE Code Sample: Send "RV TO ANGLE" [SET] RV TO ANGLE rr.rr [[DEGREES]|RADIANS|GRADIANS] Range: N/A Describe: Result: Spins the RV to the specified angle from current heading. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Hub Commands version 1.2 91 READ RV Sensors... SEND("Read Sensor Commands • Reading of low level sensors for learning foundations of robotics. • Read RV Sensors… – Send("READ – RV.RANGER – RV.COLORINPUT – RV.COLORINPUT.RED – RV.COLORINPUT.GREEN – RV.COLORINPUT.BLUE – RV.COLORINPUT.GRAY • • RV.RANGER: Returns value in Meters. RV.COLORINPUT: Reads color sensor that is built into the RV. RV.RANGER Command: RV.RANGER Command Syntax: RV.RANGER Code Sample: Send("READ RV.RANGER") Get(R) 92 Connects the Rover Vehicle to the TIInnovator™ Hub. This establishes connections with the motor driver, color sensor, gyroscope, ultrasonic ranger, and proximity sensors. CONNECT RV Returns the current distance from the front of the RV to an obstacle. If there is no obstacle detected, a range of 10.00 meters is reported READ RV.RANGER Get(R) TI-Innovator™ Hub Commands version 1.2 Command: RV.RANGER Range: N/A Describe: The front-facing ultrasonic distance sensor. Returns measurements in meters. ~10.00 meters means no obstacle was detected. Result: Returns value in Meters. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. RV.COLORINPUT Command: RV.COLORINPUT Command Syntax: RV.COLORINPUT Code Sample: Send("READ RV.COLORINPUT") Get(C) Range: 1 thru 9 Describe: Bottom-mounted color sensor detects the color of the surface. Can also detect gray-level scale of black (0) to white (255). Result: Returns current color sensor information. The return value is in the 1 – 9 range which maps to the colors below: Color Red Green Blue Cyan Magenta Yellow Black White Gray Type or Addressable Component: Return value 1 2 3 4 5 6 7 8 9 Sensor Note: This Rover sensor command is executed immediately. TI-Innovator™ Hub Commands version 1.2 93 RV.COLORINPUT.RED Command: RV.COLORINPUT.RED Command Syntax: RV.COLORINPUT.RED Code Sample: Send("READ RV.COLORINPUT.RED") Get(R) Range: 0 - 255 Describe: Detect intensity of individual red components of surface. The results are in 0-255 range. Result: Returns current color sensor "red value". Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. RV.COLORINPUT.GREEN Command: RV.COLORINPUT.GREEN Command Syntax: RV.COLORINPUT.GREEN Code Sample: Send("READ RV.COLORINPUT.GREEN") Get(G) Range: 0 - 255 Describe: Detect intensity of individual green components of surface. The results are in 0-255 range. Result: Returns current color sensor "green" value. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. 94 TI-Innovator™ Hub Commands version 1.2 RV.COLORINPUT.BLUE Command: RV.COLORINPUT.BLUE Command Syntax: RV.COLORINPUT.BLUE Code Sample: Send("READ RV.COLORINPUT.BLUE") Get(B) Range: 0 - 255 Describe: Detect intensity of individual blue components of surface. The results are in 0-255 range. Result: Returns current color sensor "blue" value. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. RV.COLORINPUT.GRAY Command: RV.COLORINPUT.GRAY Command Syntax: RV.COLORINPUT.GRAY Code Sample: Send("READ RV.COLORINPUT.GRAY") Get(G) Range: 0 - 255 Describe: Detect grayness of surface. The result will be in 0-255 range. Result: Returns an interpolated "grayscale" value based on 0.3*red + 0.59*green + 0.11*blue 0-black, 255 - white. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. TI-Innovator™ Hub Commands version 1.2 95 RV Settings... RV Settings Commands Settings menu for Rover contains other commands that support RV commands such as FORWARD or BACKWARD. • RV Settings... – RV Settings – SPEED – TIME – DISTANCE – UNIT/S – M/S – REV/S – UNITS – M – REVS – DEGREES – RADIANS – GRADS – XYLINE – LEFT – RIGHT – BRAKE – COAST – CW – CCW SPEED Command: SPEED Command Syntax: SPEED Code Sample: SPEED Range: N/A Describe: Speed may be given (default is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec) and specified in meters/second, unit/second, revolutions/second, 96 TI-Innovator™ Hub Commands version 1.2 Command: SPEED or feet/second. Result: Type or Addressable Component: Setting TIME Command: TIME Command Syntax: TIME Code Sample: TIME Range: N/A Describe: . Result: Type or Addressable Component: Setting DEGREES Command: DISTANCE Command Syntax: DISTANCE Code Sample: DISTANCE Range: N/A Describe: Result: Type or Addressable Component: Setting TI-Innovator™ Hub Commands version 1.2 97 UNIT/S Command: UNIT/S Command Syntax: UNIT/S Code Sample: UNIT/S Range: N/A Describe: Result: Type or Addressable Component: Setting M/S Command: M/S Command Syntax: M/S Code Sample: M/S Range: N/A Describe: Result: Type or Addressable Component: Setting REV/S Command: REV/S Command Syntax: REV/S Code Sample: REV/S 98 TI-Innovator™ Hub Commands version 1.2 Command: REV/S Range: N/A Describe: Result: Type or Addressable Component: Setting UNITS Command: UNITS Command Syntax: UNITS Code Sample: UNITS Range: N/A Describe: Result: Type or Addressable Component: Setting M Command: M Command Syntax: M Code Sample: M Range: N/A Describe: Result: Type or Addressable Component: Setting TI-Innovator™ Hub Commands version 1.2 99 REVS Command: REVS Command Syntax: REVS Code Sample: REVS Range: N/A Describe: Return list of wheel revolutions traveled. Result: Type or Addressable Component: Setting DEGREES Command: DEGREES Command Syntax: DEGREES Code Sample: DEGREES Range: N/A Describe: Result: Type or Addressable Component: Setting RADIANS Command: RADIANS Command Syntax: RADIANS Code Sample: RADIANS 100 TI-Innovator™ Hub Commands version 1.2 Command: RADIANS Range: N/A Describe: Result: Type or Addressable Component: Setting GRADS Command: GRADS Command Syntax: GRADS Code Sample: GRADS Range: N/A Describe: Result: Type or Addressable Component: Setting XYLINE Command: XYLINE Command Syntax: XYLINE Code Sample: XYLINE Range: N/A Describe: Result: Type or Addressable Component: Setting TI-Innovator™ Hub Commands version 1.2 101 LEFT Command: LEFT Command Syntax: LEFT Code Sample: LEFT Range: N/A Describe: Result: Type or Addressable Component: Setting RIGHT Command: RIGHT Command Syntax: RIGHT Code Sample: RIGHT Range: N/A Describe: Result: Type or Addressable Component: Setting BRAKE Command: BRAKE Command Syntax: BRAKE Code Sample: BRAKE 102 TI-Innovator™ Hub Commands version 1.2 Command: BRAKE Range: N/A Describe: Result: Type or Addressable Component: Setting COAST Command: COAST Command Syntax: COAST Code Sample: COAST Range: N/A Describe: Result: Type or Addressable Component: Setting CW Command: CW Command Syntax: CW Code Sample: CW Range: N/A Describe: CW.b (value is positive) = Wheel rotate clockwise, backward direction CW.f (value is positive) = Wheel rotates clockwise, forward direction CW.f (value is negative) = Wheel rotates clockwise, forward direction TI-Innovator™ Hub Commands version 1.2 103 Command: CW Result: Type or Addressable Component: Setting CCW Command: CCW Command Syntax: CCW Code Sample: CCW Range: N/A Describe: CCW.f (value is positive) = Wheel rotates counter-clockwise, forward direction CCW.b (value is positive) = Wheel rotates counter-clockwise, backward direction CWW.b (value is negative) = Wheel rotates counter-clockwise, backward direction Result: Type or Addressable Component: 104 Setting TI-Innovator™ Hub Commands version 1.2 Read RV Path… Reading WAYPOINT and PATH Tracking the RV’s Path In order to support analysis of the Rover during and after a run, the sketch will automatically measure the following information for each Drive command: • X Coordinate on virtual grid • Y Coordinate on virtual grid • Time in seconds that the current command has been executing. • Distance in coordinate units for the path segment. • Heading in degrees (absolute terms measured Counter Clockwise with the X-axis as 0 degrees. • Revolutions by the wheel in executing the current command • Command number, tracks the number of commands executed, begins with 0. The Path values will be stored in lists, starting with the segments associated with the earliest commands and going to the segments associated with the latest commands. The drive command in progress, the WAYPOINT, will repeatedly update the last element in the Path lists as the Rover progresses toward the last waypoint. When a drive command is completed a new waypoint is initiated and the dimension of the Path lists are incremented. Note: This implies that when all the drive commands in the queue are completed that another waypoint for the stopped state is automatically started. This is similar to the initial position where the RV is stationary and counting time. Max number of waypoints: 80 TI-Innovator™ Hub Commands version 1.2 105 RV Position and Path • Ability to read X,Y coordinate, Heading, Time and Distance for each drive command in execution. • Will store path history in lists for plotting and analysis Note: Coordinate grid scale can be set by the user, default is 10cm per unit. The user will have options to set the origin of the grid. • 106 Read RV Path… – Send("READ – RV.WAYPOINT.XYTHDRN – RV.WAYPOINT.PREV – RV.WAYPOINT.CMDNUM – RV.PATHLIST.X – RV.PATHLIST.Y – RV.PATHLIST.TIME – RV.PATHLIST.HEADING – RV.PATHLIST.DISTANCE – RV.PATHLIST.REVS – RV.PATHLIST.CMDNUM – RV.WAYPOINT.X – RV.WAYPOINT.Y – RV.WAYPOINT.TIME – RV.WAYPOINT.HEADING – RV.WAYPOINT.DISTANCE – RV.WAYPOINT.REVS TI-Innovator™ Hub Commands version 1.2 TI-84 PlusCE TI-Nspire™ CX RV.WAYPOINT.XYTHDRN Command: RV.WAYPOINT.XYTHDRN Command Syntax: RV.WAYPOINT.XYTHDRN Code Sample: Send("READ RV.WAYPOINT.XYTHDRN") Example: Getting the distance traveled toward the current way-point from the last way-point Code Sample: Send("READ RV.WAYPOINT.XYTHDRN") Get(L ) 1 (L )(5)->D 1 Range: N/A Describe: READ RV.WAYPOINT.XYTHDRN - read the x-coord, y-coord, time, heading, distance traveled, number of wheel revolutions, command number of the current waypoint. Returns a list with all these values as elements. Result: Return list of current way-point X, Y coordinates, Time, Heading, Distance, Revolutions, and command number. Type or Addressable Component: Returns Data RV.WAYPOINT.PREV Command: RV.WAYPOINT.PREV Command Syntax: RV.WAYPOINT.PREV Code Sample: Send("READ RV.WAYPOINT.PREV") Example: Getting the distance traveled during the previous way-point. Code Sample: Send("READ RV.WAYPOINT.PREV") Get(L ) 1 (L )(5)->D 1 TI-Innovator™ Hub Commands version 1.2 107 Command: RV.WAYPOINT.PREV Range: N/A Describe: READ RV.WAYPOINT.PREV - read the x-coord, y-coord, time, heading, distance traveled, number of wheel revolutions, command number of the previous waypoint. Returns a list with all these values as elements. Result: Return list of the previous way-point X, Y coordinates, time, heading, distance, revolutions, and command number. Type or Addressable Component: Returns Data RV.WAYPOINT.CMDNUM Command: RV.WAYPOINT.CMDNUM Command Syntax: RV.WAYPOINT.CMDNUM Code Sample: Send("READ RV.WAYPOINT.CMDNUM") Example: Program to determine if a drive command has completed without referring to a specific command number. Note: the Wait is intended to increase the probability of catching a difference in the Command Number. Code Sample: Send("RV FORWARD 10") Send("READ RV.WAYPOINT.CMDNUM") Get(M) M->N While M=N Send("READ RV.WAYPOINT.CMDNUM") Get(N) End Disp "Drive Command is completed" Range: N/A Describe: READ RV.WAYPOINT.CMDNUM - returns the last command number of 108 TI-Innovator™ Hub Commands version 1.2 Command: RV.WAYPOINT.CMDNUM the current waypoint. Result: Returns a value of 0 if the RV is currently "working" on a command and is either in motion, or running a STAY operation. This command will return a value of 1 when ALL queued operations are completed, nothing is remaining in the command queue, and the current operation has completed (and immediately after CONNECT RV). Type or Addressable Component: Returns Data RV.PATHLIST.X Command: RV.PATHLIST.X Command Syntax: RV.PATHLIST.X Code Samples: Send("READ RV.PATHLIST.X") Example: Program to plot the RV path on the graph screen Code Samples: Plot1(xyLine, L , L ,▫,BLUE) 1 2 Send("READ RV.PATHLIST.X") Get(L1) Send("READ RV.PATHLIST.Y") Get(L2) DispGraph Range: N/A Describe: READ RV.PATHLIST.X - returns a list of X values from the beginning to and including the current Waypoint X value. Result: Return list of X coordinates traversed since last RV.PATH CLEAR or initial CONNECT RV. Type or Addressable Component: Returns Data TI-Innovator™ Hub Commands version 1.2 109 RV.PATHLIST.Y Command: RV.PATHLIST.Y Command Syntax: RV.PATHLIST.Y Code Sample: Send("READ RV.PATHLIST.Y") Example: Program to plot the RV path on the graph screen Code Sample: Plot1(xyLine, L , L ,▫,BLUE) 1 2 Send("READ RV.PATHLIST.Y") Get(L1) Send("READ RV.PATHLIST.X") Get(L2) DispGraph Range: N/A Describe: READ RV.PATHLIST.Y - returns a list of Y values from the beginning to and including the current Waypoint Y value. Result: Return list of Y coordinates traversed since last RV.PATH CLEAR or initial CONNECT RV. Type or Addressable Component: Returns Data RV.PATHLIST.TIME Command: RV.PATHLIST.TIME Command Syntax: RV.PATHLIST.TIME Code Sample: Send "READ RV.PATHLIST.TIME" Range: N/A Describe: READ RV.PATHLIST.TIME - returns a list of the time in seconds from the beginning to and including the current Waypoint time value. 110 TI-Innovator™ Hub Commands version 1.2 Command: RV.PATHLIST.TIME Result: Return list of cumulative travel times for each successive way-point. Type or Addressable Component: Returns Data RV.PATHLIST.HEADING Command: RV.PATHLIST.HEADING Command Syntax: RV.PATHLIST.HEADING Code Sample: Send "READ RV.PATHLIST.HEADING" Range: N/A Describe: READ RV.PATHLIST.HEADING - returns a list of the headings from the beginning to and including the current Waypoint heading value. Result: Return list of cumulative angular headings taken. Type or Addressable Component: Returns Data RV.PATHLIST.DISTANCE Command: RV.PATHLIST.DISTANCE Command Syntax: RV.PATHLIST.DISTANCE Example: Getting the cumulative distance traveled since the beginning of a journey by the RV Code Sample: Send "READ RV.PATHLIST.DISTANCE" Get(L ) 1 sum(L ) 1 Range: N/A Describe: READ RV.PATHLIST.DISTANCE - returns a list of the distances traveled from the beginning to and including the current Waypoint distance value. TI-Innovator™ Hub Commands version 1.2 111 Command: RV.PATHLIST.DISTANCE Result: Return list of cumulative distances traveled. Type or Addressable Component: Returns Data RV.PATHLIST.REVS Command: RV.PATHLIST.REVS Command Syntax: RV.PATHLIST.REVS Code Sample: Send "READ RV.PATHLIST.REVS" Range: N/A Describe: READ RV.PATHLIST.REVS - returns a list of the number of revolutions traveled from the beginning to and including the current Waypoint revolutions value. Result: Return list of wheel revolutions traveled. Type or Addressable Component: Returns Data RV.PATHLIST.CMDNUM Command: RV.PATHLIST.CMDNUM Command Syntax: RV.PATHLIST.CMDNUM Code Sample: Send "READ RV.PATHLIST.CMDNUM" Range: N/A Describe: READ RV.PATHLIST.CMDNUM - returns a list of command numbers for the path 112 TI-Innovator™ Hub Commands version 1.2 Command: RV.PATHLIST.CMDNUM Result: Return list of commands used to travel to the current way-point entry. 0 - Start of Way-points (if first action is a STAY, then no START is given, but a STAY will be shown instead.) 1 - Travel forward 2 - Travel backward 3 - Left spin motion 4 - Right spin motion 5 - Left turn motion 6 - Right turn motion 7 - Stay (no motion) the time the RV stays at the current position is given in the TIME list. 8 - RV is currently in motion on this way-point traversal. Type or Addressable Component: Returns Data RV.WAYPOINT.X Command: RV.WAYPOINT.X Command Syntax: RV.WAYPOINT.X Code Samples: Send("READ RV.WAYPOINT.X") Range: N/A Describe: READ RV.WAYPOINT.X - returns x coordinate of current waypoint. Result: Return current way-point X coordinate. Type or Addressable Component: Returns Data RV.WAYPOINT.Y Command: RV.WAYPOINT.Y Command Syntax: RV.WAYPOINT.Y TI-Innovator™ Hub Commands version 1.2 113 Command: RV.WAYPOINT.Y Code Samples: Send("READ RV.WAYPOINT.Y") Range: N/A Describe: READ RV.WAYPOINT.Y - returns x coordinate of current waypoint. Result: Return current way-point Y coordinate. Type or Addressable Component: Returns Data RV.WAYPOINT.TIME Command: RV.WAYPOINT.TIME Command Syntax: RV.WAYPOINT.TIME Code Sample: Send("READ RV.WAYPOINT.TIME") Range: N/A Describe: READ RV.WAYPOINT.TIME - returns time spent traveling from previous to current waypoint Result: Return total cumulative way-point travel time value in seconds. Type or Addressable Component: Returns Data RV.WAYPOINT.HEADING Command: RV.WAYPOINT.HEADING Command Syntax: RV.WAYPOINT.HEADING Code Sample: Send("READ RV.WAYPOINT.HEADING") 114 TI-Innovator™ Hub Commands version 1.2 Command: RV.WAYPOINT.HEADING Range: N/A Describe: READ RV.WAYPOINT.HEADING - returns absolute heading of current waypoint Result: Return current absolute heading in degrees. ( +h = counter-clockwise, -h = clockwise.) Type or Addressable Component: Returns Data RV.WAYPOINT.DISTANCE Command: RV.WAYPOINT.DISTANCE Command Syntax: RV.WAYPOINT.DISTANCE Code Sample: Send("READ RV.WAYPOINT.DISTANCE") Range: N/A Describe: READ RV.WAYPOINT.DISTANCE - returns distance traveled between previous and current waypoint Result: Return cumulative total distance traveled in meters. Type or Addressable Component: Returns Data RV.WAYPOINT.REVS Command: RV.WAYPOINT.REVS Command Syntax: RV.WAYPOINT.REVS Code Sample: Send("READ RV.WAYPOINT.REVS") Range: N/A TI-Innovator™ Hub Commands version 1.2 115 Command: RV.WAYPOINT.REVS Describe: READ RV.WAYPOINT.REVS - returns number of revolutions needed to travel between previous and current waypoint Result: Return total revolutions of the wheels performed to travel the cumulative distance to the current way-point. Type or Addressable Component: Returns Data 116 TI-Innovator™ Hub Commands version 1.2 RV Color… Send("SET Commands RGB LED on Rover - This supports the same commands and parameters as the RGB LED on the TI-Innovator™ Hub. • RV Color… – Send("SET – RV.COLOR – RV.COLOR.RED – RV.COLOR.GREEN – RV.COLOR.BLUE RV.COLOR Command: RV.COLOR Command Syntax: RV.COLOR Code Sample: Send "SET RV.COLOR [SET] RV.COLOR rr gg bb [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Set the RGB color to be displayed on the Rover's RGB LED. Same syntax as for all RGB LED operations with COLOR, etc. Result: Return the current RGB color, as a three-element list, that is being displayed on the Rover's RGB LED Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV.COLOR.RED Command: RV.COLOR.RED Command Syntax: RV.COLOR.RED Code Sample: Send "SET RV.COLOR.RED TI-Innovator™ Hub Commands version 1.2 117 Command: RV.COLOR.RED [SET] RV.COLOR.RED rr [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Result: Set the RED color to be displayed on the Rover's RGB LED. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV.COLOR.GREEN Command: RV.COLOR.GREEN Command Syntax: RV.COLOR.GREEN Code Sample: Send "SET RV.COLOR.GREEN [SET] RV.COLOR.GREEN gg [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Result: Set the GREEN color to be displayed on the Rover's RGB LED. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV.COLOR.BLUE Command: RV.COLOR.BLUE Command Syntax: RV.COLOR.BLUE Code Sample: Send "SET RV.COLOR.BLUE 118 TI-Innovator™ Hub Commands version 1.2 Command: RV.COLOR.BLUE [SET] RV.COLOR.BLUE bb [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Result: Set the BLUE color to be displayed on the Rover's RGB LED. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Hub Commands version 1.2 119 RV Setup… Send("SET Commands • RV Setup… – Send("SET – RV.POSITION – RV.GYRO – RV.GRID.ORIGIN – RV.GRID.M/UNIT – RV.PATH CLEAR – RV MARK RV.POSITION Command: RV.POSITION Command Syntax: RV.POSITION Code Sample: Send "SET RV.POSITION" [SET] RV.POSITION xxx yyy [hhh [[DEGREES]|RADIANS|GRADIANS]] Range: N/A Describe: Sets the coordinate position and optionally the heading of the Rover on the virtual grid. Result: Rover configuration is updated. Type or Addressable Component: Setting RV.GYRO Command: RV.GYRO Command Syntax: RV.GYRO Code Sample: Send "SET RV.GYRO" 120 TI-Innovator™ Hub Commands version 1.2 Command: RV.GYRO Range: N/A Describe: Sets the on-board Gyroscope. Result: Type or Addressable Component: Control (for Gyroscope) RV.GRID.ORIGIN Command: RV.GRID.ORIGIN Command Syntax: RV.GRID.ORIGIN Code Sample: Send "SET RV.GRID.ORIGIN" [SET} RV.GRID.ORIGIN Range: N/A Describe: Sets RV as being at current grid origin point of (0,0). The "heading" is set to 0.0 resulting in the current position of the RV now set to pointing down a virtual x-axis toward positive x values. Result: Type or Addressable Component: Setting RV.GRID.M/UNIT Command: RV.GRID.M/UNIT Command Syntax: RV.GRID.M/UNIT Code Sample: Send "SET RV.GRID.M/UNIT" [SET] RV.GRID.M/UNIT nnn TI-Innovator™ Hub Commands version 1.2 121 Command: RV.GRID.M/UNIT Range: N/A Describe: Set the size of a "grid unit" on the virtual grid. Default is 10 units per meter (100 mm / 10 cm per unit grid). A value of 5 means 5 units per meter or 200 mm / 20 cm per unit grid). A value of 20 means 20 units per meter, or 50 mm / 5 cm per unit grid. Result: Type or Addressable Component: Setting RV.PATH CLEAR Command: RV.PATH CLEAR Command Syntax: RV.PATH CLEAR Code Sample: Send "SET RV.PATH CLEAR" [SET] RV.PATH CLEAR Range: N/A Describe: Clears any pre-existing path / waypoint information. Recommended before doing a sequence of movement operations where waypoint / pathlist information is desired. Result: Type or Addressable Component: Setting RV MARK Command: RV MARK Command Syntax: RV MARK Code Sample: Send "SET RV MARK" [SET] RV MARK [[TIME] s.ss] 122 TI-Innovator™ Hub Commands version 1.2 Command: RV MARK Range: N/A Describe: Enable RV to make a "mark" with a pen at the specified time interval (default is 1 second if not specified). A time value of 0.0 turns OFF marking. Marking ONLY happens if the Rover is moving in a forward direction. Result: Type or Addressable Component: Setting (for Rover) TI-Innovator™ Hub Commands version 1.2 123 RV Control… SEND(" Commands Wheel commands and other commands relevant for learning foundations of the Rover vehicle. • RV Control … – Send(" – SET RV.MOTORS – SET RV.MOTOR.L – SET RV.MOTOR.R – SET RV.ENCODERSGYRO 0 – READ RV.ENCODERSGYRO – READ RV.GYRO SET RV.MOTORS Command: SET RV.MOTORS Command Syntax: SET RV.MOTORS Code Sample: Send "SET RV.MOTORS" [SET] RV.MOTORS [LEFT][CW|CCW][RIGHT][CW|CCW] [DISTANCE ddd [M|[UNITS]|REV|FT]] | [TIME s.ss] Range: N/A Describe: Set left or right or both motor PWM values. Negative values imply CCW and Positive values imply CW. Left CW=backward motion. Left CCW=forward motion. Right CW=forward motion, Right CCW=backward motion. PWM values may be numeric from -255 to +255, or keywords "COAST" or "BRAKE". Value of 0 is stop (coast). Use of the DISTANCE option is only available if the RV is connected with all sensors. CONNECT RV MOTORS means no sensors are available to measure distance, so the DISTANCE option is an error in this instance. Result: Both the LEFT and RIGHT motor, managed as a single object for direct control (advanced) use. 124 TI-Innovator™ Hub Commands version 1.2 Command: SET RV.MOTORS Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. SET RV.MOTOR.L Command: SET RV.MOTOR.L Command Syntax: SET RV.MOTOR.L Code Sample: Send "SET RV.MOTOR.L" [SET] RV.MOTOR.L [CW|CCW] <+/-pwm value|BRAKE|COAST> [TIME s.ss] | [DISTANCE ddd [[UNITS] |M|REV|FT]] Range: N/A Describe: Set left motor direct PWM value. CCW = forward, CW = backward, pwm value negative = forward, positive = backward. TIME option available in all modes, DISTANCE option available only when RV is fully connected (not the RV MOTORS option). Result: Left wheel motor and control for direct control (advanced) use. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. SET RV.MOTOR.R Command: SET RV.MOTOR.R Command Syntax: SET RV.MOTOR.R Code Sample: Send "SET RV.MOTOR.R" [SET] RV.MOTOR.R [CW|CCW] <+/-pwm value|BRAKE|COAST> [TIME s.ss] | [DISTANCE ddd [[UNITS] |M|REV|FT]] TI-Innovator™ Hub Commands version 1.2 125 Command: SET RV.MOTOR.R Range: N/A Describe: Set right motor direct PWM value. CW = forward, CCW = backward, pwm value positive = forward, negative = backward. TIME option available in all modes, DISTANCE option available only when RV is fully connected (not the RV MOTORS option). Result: Right wheel motor and control for direct control (advanced) use. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. SET RV.ENCODERSGYRO 0 Command: SET RV.ENCODERSGYRO 0 Command Syntax: SET RV.ENCODERSGYRO 0 Code Sample: Send "SET RV.ENCODERSGYRO 0" Range: N/A Describe: Reset the left and right encoder, coupled with the gyro and operating time information. Result: Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. READ RV.ENCODERSGYRO Command: READ RV.ENCODERSGYRO Command Syntax: READ RV.ENCODERSGYRO Code Sample: Send "READ RV.ENCODERSGYRO" Range: N/A 126 TI-Innovator™ Hub Commands version 1.2 Command: READ RV.ENCODERSGYRO Describe: The left and right encoder, coupled with the gyro and operating time information. Result: List of values of current left and right encoder, coupled with gyro and operating time information Type or Addressable Component: Control Note: This Rover READ command is executed immediately. READ RV.GYRO Command: READ RV.GYRO Command Syntax: READ RV.GYRO Code Sample: Send "READ RV.GYRO" READ RV.GYRO [[DEGREES]|RADIANS|GRADIANS] Range: N/A Describe: The gyroscope is used to maintain the heading of Rover while it’s in motion. It can also be used to measure the change in angle during turns. The gyroscope is ready to use after the CONNECT RV command is processed. The GYRO object shall be usable even when the RV is not in motion. Result: Returns current gyro sensor angular deviation from 0.0, reading partially drift-offset compensated. Type or Addressable Component: Control Note: This Rover READ command is executed immediately. TI-Innovator™ Hub Commands version 1.2 127 Send "CONNECT RV" SEND("CONNECT RV") Commands CONNECT RV - initializes the hardware connections. • Connects RV and inputs and outputs built into the RV. • Resets the Path and the Grid Origin. • Sets the units per meter to default value. • Send("CONNECT RV") CONNECT RV Command: CONNECT RV Command Syntax: CONNECT RV [MOTORS] Code Sample: Send "CONNECT RV" Send "CONNECT RV MOTORS" Range: N/A Describe: The "CONNECT RV" command configures the TI-Innovator™ Hub software to work with the TI-Innovator™ Rover. It establishes the connections to the various devices on the Rover – two motors, two encoders, one gyroscope, one RGB LED and one color sensor. It also clears the various counters and sensor values. The optional ‘MOTORS’ parameter configures only the motors and allows direct control of motors without the additional peripherals. Result: Connects the Rover Vehicle to the TI-Innovator™ Hub. This establishes connections with the motor driver, color sensor, gyroscope, ultrasonic ranger, and RGB LED. The Rover is now ready to be programmed Type or Addressable Component: All components of the Rover - two motors, two encoders, one gyroscope, one RGB LED and one color sensor. 128 TI-Innovator™ Hub Commands version 1.2 Send "DISCONNECT RV" SEND("DISCONNECT RV") Commands DISCONNECT RV - disconnects all the hardware peripherals from the Hub. Format: Send("DISCONNECT RV") • Send("DISCONNECT RV") DISCONNECT RV Command: DISCONNECT RV Command Syntax: DISCONNECT RV Code Sample: Send "DISCONNECT RV" DISCONNECT RV Range: N/A Describe: The "DISCONNECT RV" command removes the logical connections between the TI-Innovator™ Hub and the TI-Innovator™ Rover. It also clears the counters and sensor values. It allows the use of the breadboard port of the TI-Innovator™ Hub with other devices. Result: The TI-Innovator™ Hub is now logically disconnected from the TIInnovator™ Rover Type or Addressable Component: N/A TI-Innovator™ Hub Commands version 1.2 129 CONNECT - Output CONNECT associates a given control or sensor with a pin or port on the TI-Innovator. If the specified control or sensor is currently in use, an error will be generated. If the pin or port specified in the CONNECT command is currently in use, an error will be generated. The CONNECT command does not generate an active response, but a variety of errors may occur during a connection attempt, such as pin-in-use, unsupported, invalid options, bad options, etc. CONNECT 'something i' [TO] IN1/IN2/IN3/OUT1/OUT2/OUT3/BB1 Command: CONNECT Command Syntax: CONNECT Range: Describe: Associates a sensor or control with a given port or pin(s). Places the respective pin(s) in use Result: Type or Addressable Component: TI-84 Plus CE LIGHT Command: LIGHT Command Syntax: CONNECT LIGHT Range: 130 TI-Innovator™ Hub Commands version 1.2 TI-Nspire™ CX Command: LIGHT Describe: This command is not needed for typical use since the on-board LIGHT (i.e. RED LED) is automatically connected. Re-connect a previously disconnected on-board RED LED. The LIGHT is always connected when the system is reset, or powered-on, or the BEGIN command is used to restore system state. No pin number is required. CONNECT LIGHT Result: Connects on-board digital LED (red) to known fixed pin. Digital only. Type or Addressable Component: Control COLOR Command: COLOR Command Syntax: CONNECT COLOR Range: Describe: This command is not needed for typical use since the on-board COLOR LED is automatically connected. (Re-)connect the internal RGB LED. No pins are required for this command to operate as the internal pins are known. This sensor is automatically connected when the TI-Innovator is initially powered, and when the BEGIN command is used. When disconnected, two PWM signals are freed for external use by other pins. CONNECT COLOR Result: Connects on-board RGB LED to fixed pins on board. Uses 3 PWMs. Type or Addressable Component: Control SOUND Command: SOUND Command Syntax: CONNECT SOUND TI-Innovator™ Hub Commands version 1.2 131 Command: SOUND Range: Describe: This command is not needed for typical use since the on-board object SOUND is automatically connected. Re-connect the on-board speaker for sound generation. No pin needed as it uses known, fixed pin for signal. CONNECT SOUND Result: Connects on-board speaker to fixed output digital pin. Type or Addressable Component: Control LED i [TO] OUT n/BB n Command: LED i [TO] OUT n/BB n Command Syntax: CONNECT LED i [TO] OUT n/BB n Range: Describe: This object provides the ability to connect external LED objects. The LED object is either connected to a PWM function (if available, and the pin connecting to supports it), or a digital output pin which will be driven at 50% duty cycle; or the specified blink rate if one is specified in the SET operation. CONNECT LED 1i [TO] BB3 CONNECT LED 2i [TO] OUT1 Result: LED connected to specific port. Type or Addressable Component: Control SPEAKER i [TO] OUT n/BB n Command: SPEAKER i [TO] OUT n/BB n Command Syntax: CONNECT SPEAKER i [TO] OUT n/BB n 132 TI-Innovator™ Hub Commands version 1.2 Command: SPEAKER i [TO] OUT n/BB n Range: Describe: Connect an external speaker for sound generation. Requires a digital output pin. CONNECT SPEAKER 1 [TO] OUT 1 CONNECT SPEAKER i [TO] BB 3 Result: Connect a speaker to a digital output port or pin. Type or Addressable Component: Control BUZZER i [TO] OUT n/BB n Command: BUZZER i [TO] OUT n/BB n Command Syntax: CONNECT BUZZER i [TO] OUT n/BB n Range: Describe: Connect an external active buzzer to an output digital pin. Active buzzers play a tone when their signal is set high/on, and stop the tone when the signal is dropped to ground. For piezo or passive buzzers, use the SPEAKER object type to allow generation of multiple tones. CONNECT BUZZER i [TO] OUT1 Result: ACTIVE buzzers connect to a digital pin. Type or Addressable Component: Control RELAY i [TO] OUT n/BB n Command: RELAY i [TO] OUT n/BB n Command Syntax: CONNECT RELAY i [TO] OUT n/BB n Range: Describe: With external power required, connect a relay module to a given control TI-Innovator™ Hub Commands version 1.2 133 Command: RELAY i [TO] OUT n/BB n signal pin. Since the control is digital, as long as external power is present, any pin may be used. CONNECT RELAY 1 [TO] BB 3 CONNECT RELAY 1 [TO] OUT 2 Result: Relays. Type or Addressable Component: Control SERVO i [TO] OUT n Command: SERVO i [TO] OUT n Command Syntax: CONNECT SERVO i [TO] OUT n Code Sample: Range: Describe: Used to connect either a normal sweep servo motor, or a continuous servo motor. External power must be provided before attempting to connect the servo. CONNECT SERVO 1 [TO] OUT 1 Result: Servo motor is connected to port. Type or Addressable Component: Control SERVO.CONTINUOUS i [TO] BB 6 Command: SERVO.CONTINUOUS i [TO] BB 6 Command Syntax: CONNECT SERVO.CONTINUOUS i [TO] BB 6 Code Sample: 134 TI-Innovator™ Hub Commands version 1.2 Command: SERVO.CONTINUOUS i [TO] BB 6 Range: Describe: Used to connect either a normal sweep servo motor, or a continuous servo motor. External power must be provided before attempting to connect the servo. CONNECT SERVO.CONTINUOUS i [TO] BB 6 Result: Servo motor with -90 to 90 degree movement. Type or Addressable Component: Control DCMOTOR i [TO] OUT n/BB n Command: DCMOTOR i [TO] OUT n/BB n Command Syntax: CONNECT DCMOTOR i [TO] OUT n/BB n Range: Describe: Connect an external DC Motor object. This object requires the presence of power on the external power connector to allow operation. These objects share the number-space with the SQUAREWAVE output objects and ANALOG.OUT objects. The associated pin is configured as a digital output signal. CONNECT DCMOTOR i [TO] OUT1 Result: Connect DCMOTOR to a digital output pin. Type or Addressable Component: Control RGB i / COLOR [TO] BB r BB g BB b Command: RGB i / COLOR [TO] BB r BB g BB b Command Syntax: CONNECT RGB i / COLOR [TO] BB r BB g BB b Range: TI-Innovator™ Hub Commands version 1.2 135 Command: RGB i / COLOR [TO] BB r BB g BB b Describe: Connects an external RGB LED to three PWM-capable pins. If insufficient PWM pins are available for mapping to PWM function, an error will be given. To connect an external RGB, the on-board RGB LED should be DISCONNECTed before the attempt to connect the external RGB is performed. CONNECT RGB 1 [TO] BB8 BB9 BB10 Result: Digital pins supporting PWM. Type or Addressable Component: Control SQUAREWAVE i [TO] OUT n/BB n Command: SQUAREWAVE i [TO] OUT n/BB n Command Syntax: CONNECT SQUAREWAVE i [TO] OUT n/BB n Range: Describe: Connect a software generated digital waveform generator object. These objects share the number-space with the DCMOTOR and ANALOG.OUT output objects. The associated pin is configured as a digital output signal. CONNECT SQUAREWAVE n [TO] BB 2 Result: Digital output squarewave from 1 to 500 hz. Type or Addressable Component: Control ANALOG.OUT i [TO] OUT i/BB i Command: ANALOG.OUT i [TO] OUT n/BB n Command Syntax: CONNECT ANALOG.OUT i [TO] OUT n/BB n Range: Describe: 136 Connect a generic “analog” output control to a pin/port that supports analog input. ANALOG.OUT shares number space with DCMOTOR and SQUAREWAVE objects. TI-Innovator™ Hub Commands version 1.2 Command: ANALOG.OUT i [TO] OUT n/BB n CONNECT ANALOG.OUT i [TO] OUT 1 CONNECT ANALOG.OUT i [TO] BB 4 CONNECT ANALOG.OUT i [TO] BB 1 Result: Connect analog output to pin. If pin supports hardware pulse with modulation (PWM), the object uses. If the pin does not support hardware-generated PWM, the sketch will generate PWM in software at 490 Hz with the duty cycle specfic between 0 (none) and 255 (full on). Type or Addressable Component: Control DIGITAL.OUT i [TO] OUT n/BB n [[AS] OUTPUT] Command: DIGITAL.OUT i [TO] OUT n/BB n [[AS] OUTPUT] Command Syntax: CONNECT DIGITAL.OUT i [TO] OUT n/BB n Range: Describe: Connects a generic digital object to a specified pin or port. The connected pin is configured either as a digital output signal, default LOW, or a digital input signal, default INPUT with no pullup or pulldown enabled. The index number can refer to either an input or output. The index is shared by both items since a DIGITAL signal can be either an input or output. CONNECT DIGITAL.OUT 1 [TO] OUT n/BB n Result: Connect pin to digital object default output state, default OUTPUT, low. Type or Addressable Component: Control/Sensor TI-Innovator™ Hub Commands version 1.2 137 CONNECT-Input CONNECT associates a given control or sensor with a pin or port on the TI-Innovator. If the specified control or sensor is currently in use, an error will be generated. If the pin or port specified in the CONNECT command is currently in use, an error will be generated. The CONNECT command does not generate an active response, but a variety of errors may occur during a connection attempt, such as pin-in-use, unsupported, invalid options, bad options, etc. CONNECT 'something i' [TO] IN1/IN2/IN3/OUT1/OUT2/OUT3/BB1 Command: CONNECT Command Syntax: CONNECT Range: Describe: Associates a sensor or control with a given port or pin(s). Places the respective pin(s) in use Result: Type or Addressable Component: TI-84 PlusCE BRIGHTNESS Command: BRIGHTNESS Command Syntax: CONNECT BRIGHTNESS Range: 138 TI-Innovator™ Hub Commands version 1.2 TI-Nspire™ CX Command: BRIGHTNESS Describe: This command is not needed for typical use since the on-board BRIGHTNESS sensor is automatically connected. (Re-)connect the internal analog ambient light sensor. No pin or port name is used with this internal object. Result: Connects on-board light sensor to known analog input pin. Type or Addressable Component: Sensor DHT i [TO] IN n Command: DHT i [TO] IN n Command Syntax: CONNECT DHT i [TO] IN n Range: Temperature reading default is in Celsius Humidity reading from 0 to 100 % Describe: The DHT digital temperature humidity sensor can be connected via this object. The DHT can be either a DHT11 or DHT22 and is identified automatically when connected to the system via a digital signal line. CONNECT DHT i [TO] IN1 Result: Digital humidity/temperature sensors (DHT11/DHT22, type is autodetected). Type or Addressable Component: Sensor RANGER i [TO] IN n Command: RANGER i [TO] IN n Command Syntax: CONNECT RANGER i [TO] IN n Range: Describe: Connect an external ultrasonic distance ranging module to an input port. CONNECT RANGER 1i [TO] IN 1 TI-Innovator™ Hub Commands version 1.2 139 Command: RANGER i [TO] IN n Result: Ultrasonic ranging sensors with either individual trigger/echo pins, or same pin used for trigger/echo. Type or Addressable Component: Sensor LOUDNESS i [TO] IN n Command: LOUDNESS i [TO] IN n Command Syntax: CONNECT LOUDNESS i [TO] IN n Range: Describe: The LOUDNESS object measure sound intensity (loudness). CONNECT LOUDNESS i1 [TO] IN2 Result: Analog sound level sensors. Type or Addressable Component: Sensor LIGHTLEVEL i [TO] IN n/BB n Command: LIGHTLEVEL i [TO] IN n/BB n Command Syntax: CONNECT LIGHTLEVEL i [TO] IN n/BB n Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Connects an external light sensor. External light sensors can be analog sensors. CONNECT LIGHTLEVEL 1i [TO] IN1 Result: Analog light level sensors is connected to the specific port. Type or Addressable Component: Sensor 140 TI-Innovator™ Hub Commands version 1.2 TEMPERATURE i [TO] IN n/BB n Command: TEMPERATURE i [TO] IN n/BB n Command Syntax: CONNECT TEMPERATURE i [TO] IN n/BB n Range: Temperature reading default is in Celsius. The range depends on the specific temperature sensor being used. Humidity reading from 0 to 100 % Describe: Connects a temperature sensor to the system using either of several connection methods. Note: The default temperature sensor is included in the Breadboard pack If the sensor is based on a thermistor and provides an analog output, it uses a single analog input pin. If the sensor is a DS18B20 digital temperature sensor, it uses a single bi-directional digital GPIO pin. The analog thermistor temperature sensors is by default, assumed to be a PTC thermistor. If the thermistor is an NTC style, an optional keyword can be added to the connect command sequence to change the style of the thermistor. The analog thermistor temperature sensor uses a specific set of thermistor constants, different than those used by the THERMISTOR object, to convert the reading into a temperature reading. The constants are used in the Steinhart-Hart model to convert the analog reading to temperature. Description Value C1 8.76741e-8 C2 2.34125e-4 C3 1.129148e-3 R1 – reference resistance 10000.0 ohms CONNECT TEMPERATURE i [TO] IN 1 – thermistor sensor attached to analog input. CONNECT TEMPERATURE i [TO] BB 1 – DS18B20 digital attached to digital pin. CONNECT TEMPERATURE i [TO] I2 C – LM75A attached to I2C port. CONNECT TEMPERATURE i [TO] BB 5 NTC – connect an analog temperature sensor to analog input and specifies an NTC style thermistor. CONNECT TEMPERATURE i [TO] BB 6 PTC – connect an analog temperature sensor to analog input and specifies a PTC style thermistor. Result: Analog temperature sensor. Type or Sensor TI-Innovator™ Hub Commands version 1.2 141 Command: TEMPERATURE i [TO] IN n/BB n Addressable Component: SWITCH i [TO] IN n/BB n Command: SWITCH i [TO] IN n/BB n Command Syntax: CONNECT SWITCH i [TO] IN n/BB n Range: Describe: Connect an external switch to a digital input pin. The button task will monitor the state of the switch allowing reporting for the switch on, not on, and was on since last checked. The connected pin is set to a digital input state with its internal pulldown enabled. The other side of the switch is connected to a power supply (3.3v) pin (or 5v supply if using IN3 port). Switches share number space with Buttons. CONNECT SWITCH 1 [TO] IN 1 CONNECT SWITCH 2 [TO] BB 5 Result: Connect a switch object (similar to button, but connected to Vcc instead of Gnd when enabled.) Type or Addressable Component: Sensor BUTTON i [TO] IN n/BB n Command: BUTTON i [TO] IN n/BB n Command Syntax: CONNECT BUTTON i [TO] IN n/BB n Range: Describe: 142 Connect an external button to a digital input pin. The button task will monitor the state of the button allowing reporting for the button pressed, not pressed, and was pressed since last checked. The connected pin is set to a digital input state with its internal pullup enabled. The other side of the button is connected to a ground pin. Buttons share number space with Switches. TI-Innovator™ Hub Commands version 1.2 Command: BUTTON i [TO] IN n/BB n CONNECT BUTTON i [TO] IN1 Result: Digital button/switch/etc. Type or Addressable Component: Sensor MOTION i [TO] IN n/BB n Command: MOTION i [TO] IN n/BB n Command Syntax: CONNECT MOTION i [TO] IN n/BB n Range: Describe: Connects a digital PIR (passive infrared) motion detection sensor to a digital input pin. This sensor is monitored the same as button objects for a three-state result. CONNECT MOTION 1i [TO] IN 1 Result: Passive I/R motion detectors. Type or Addressable Component: Sensor POTENTIOMETER i [TO] IN n/BB n Command: POTENTIOMETER i [TO] IN n/BB n Command Syntax: CONNECT POTENTIOMETER i [TO] IN n/BB n Range: Describe: Connect an external slide or rotary potentiometer to an analog input pin. CONNECT POTENTIOMETER 1i [TO] IN 2 CONNECT POTENTIOMETER 1 [TO] BB 2 Result: Rotary- potentiometer sensors. Type or Sensor TI-Innovator™ Hub Commands version 1.2 143 Command: POTENTIOMETER i [TO] IN n/BB n Addressable Component: MOISTURE i [TO] IN n/BB n Command: MOISTURE i [TO] IN n/BB n Command Syntax: CONNECT MOISTURE i [TO] IN n/BB n Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Connect an analog moisture sensor to return relative moisture readings. CONNECT MOISTURE 1i [TO] IN 1 Result: Analog moisture sensors. Type or Addressable Component: Sensor THERMISTOR i [TO] IN n/BB n Command: THERMISTOR i [TO] IN n/BB n Command Syntax: CONNECT THERMISTOR i [TO] IN n/BB n Range: Describe: 144 Connects a PTC thermistor to the system using a single analog input pin. The thermistor sensor uses the following values in the Steinhart-Hart model to convert the reading into a temperature. These values match those in the TI Temperature probe that came with the CBL™ System and TI Lab Cradle. Description Value C1 1.33342e-7 C2 2.22468e-4 TI-Innovator™ Hub Commands version 1.2 Command: THERMISTOR i [TO] IN n/BB n Description Value C3 1.02119e-3 R1 – reference resistance 15000.0 ohms CONNECT THERMISTOR i [TO] IN 1 CONNECT THERMISTOR i [TO] BB 5 Result: Analog thermistor. Type or Addressable Component: Sensor ANALOG.IN i [TO] IN n/BB n Command: ANALOG.IN i [TO] IN n/BB n Command Syntax: CONNECT ANALOG.IN i [TO] IN n/BB n Range: Describe: Connect a generic “analog” input sensor to a pin/port that supports analog input. CONNECT ANALOG.IN i [TO] IN 1 CONNECT ANALOG.IN i [TO] BB 5 Result: Connect analog input to pin that supports that function (error if pin is not analog-input capable). Type or Addressable Component: Sensor DIGITAL.IN i [TO] IN n/BB n [[AS] INPUT|PULLUP|PULLDOWN] Command: DIGITAL.IN i [TO] IN n/BB n [[AS] INPUT|PULLUP|PULLDOWN] Command Syntax: CONNECT DIGITAL.IN i [TO] IN n/OUT n/BB n TI-Innovator™ Hub Commands version 1.2 145 Command: DIGITAL.IN i [TO] IN n/BB n [[AS] INPUT|PULLUP|PULLDOWN] Range: Describe: Connects a generic digital object to a specified pin or port. The connected pin is configured either as a digital output signal, default LOW, or a digital input signal, default INPUT with no pullup or pulldown enabled. The index number can refer to either an input or output. The index is shared by both items since a DIGITAL signal can be either an input or output. CONNECT DIGITAL.IN 1 [TO] IN 1 Result: Connect pin to digital object default input state, default INPUT. Type or Addressable Component: Control/Sensor Ports Settings menu contains operations to set the state of digital and analog pin operations such as the LED in the TI-Innovator™ Hub or a connected servo motor movement to states such as ON, OFF, CW (clockwise), and CCW (counterclockwise). – – – – – – – – – – – – – – – – – 1: OUT 1 2: OUT 2 3: OUT 3 4: IN 1 5: IN 2 6: IN: 3 7: I2C 8: BB 1 9: BB 2 0: BB 3 A: BB 4 B: BB 5 C: BB 6 D: BB 7 E: BB 8 F: BB 9 G: BB 10 TI-84 Plus CE TI-Nspire™ CX See TI-84 Plus CE Programming See: TI-Nspire™ CX Programming See also: Breadboard Components and Usable Pins 146 TI-Innovator™ Hub Commands version 1.2 TI-Innovator™ Hub Commands version 1.2 147 RANGE The RANGE command is used with several analog input sensors to re-map the internal ADC (Analog to Digital Converter) range of 0 to 16383 (14-bit ADC values) to a floating point range specified as the parameters to this command, along with the sensor to which the range is applied. The format for setting the range of a sensor is RANGE sensor [i] minimum maximum. To remove/reset to default the range from a given sensor, set the minimum and maximum value to zero. The minimum value must be less than the maximum value when setting a valid range. A sensors current range, if present, can be obtained by READ sensor [i] RANGE . A twoelement list of numbers in the form { minimum, maximum } will be returned. Note: If no range has been applied to the sensor, an error will be returned if an attempt to read the sensor range is performed . An individual sensors averaging value may be obtained by READ sensor [i] RANGE . RANGE 'something' (for analog devices, maps ADC range from 0 to 16383 to the range specified, min < max, min, max any values.) TI-84 Plus CE TI-Nspire™ CX BRIGHTNESS minimum maximum Command: BRIGHTNESS minimum maximum Advanced user Command Syntax: RANGE BRIGHTNESS minimum maximum Range: Describe: Changes/Sets the mapping of ADC input values from the ADC 0-16383 range to a user-selected range. The resulting sensor reading is mapped to this and a floating point result is returned. By default, the on-board BRIGHTNESS sensor is ranged to a 0-100 range. RANGE BRIGHTNESS minimum maximum Result: Set mapping for on-board brightness/light sensor. Type or Sensor 148 TI-Innovator™ Hub Commands version 1.2 Command: BRIGHTNESS minimum maximum Advanced user Addressable Component: LOUDNESS i minimum maximum Command: LOUDNESS i minimum maximum Advanced user Command Syntax: RANGE LOUDNESS i minimum maximum Range: Describe: Changes/Sets the mapping of ADC input values from the ADC 0-16383 range to a user-selected range. The resulting sensor reading is mapped to this and a floating point result is returned. RANGE LOUDNESS i minimum maximum Result: Set mapping for sound-level analog sensor. Type or Addressable Component: Sensor LIGHTLEVEL i minimum maximum Command: LIGHTLEVEL i minimum maximum Advanced user Command Syntax: RANGE LIGHTLEVEL i minimum maximum Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Changes/Sets the mapping of ADC input values from the ADC 0-16383 range to a user-selected range. The resulting sensor reading is mapped to this and a floating point result is returned. RANGE LIGHTLEVEL i minimum maximum TI-Innovator™ Hub Commands version 1.2 149 Command: LIGHTLEVEL i minimum maximum Advanced user Result: Set mapping for off-board light sensor (analog). Type or Addressable Component: Sensor TEMPERATURE i minimum maximum Command: TEMPERATURE i minimum maximum Advanced user Command Syntax: RANGE TEMPERATURE i minimum maximum Range: Describe: . RANGE TEMPERATURE i minimum maximum Result: Set mapping for soil moisture analog sensor. Type or Addressable Component: Sensor POTENTIOMETER i minimum maximum Command: POTENTIOMETER i minimum maximum Advanced user Command Syntax: RANGE POTENTIOMETER i minimum maximum Range: Describe: 150 Changes/Sets the mapping of ADC input values from the ADC 0-16383 range to a user-selected range. The resulting sensor reading is mapped to this and a floating point result is returned. RANGE POTENTIOMETER i minimum maximum TI-Innovator™ Hub Commands version 1.2 Command: POTENTIOMETER i minimum maximum Advanced user Result: Set mapping for rotary/linear potentiometers. Type or Addressable Component: Sensor MOISTURE i minimum maximum Command: MOISTURE i minimum maximum Advanced user Command Syntax: RANGE MOISTURE i minimum maximum Range: An integer value between 0 and 16383 (14 bit resolution) Describe: Changes/Sets the mapping of ADC input values from the ADC 0-16383 range to a user-selected range. The resulting sensor reading is mapped to this and a floating point result is returned. RANGE MOISTURE i minimum maximum Result: Set mapping for soil moisture analog sensor. Type or Addressable Component: Sensor THERMISTOR i minimum maximum Command: THERMISTOR i minimum maximum Advanced user Command Syntax: RANGE THERMISTOR i minimum maximum Range: Describe: . RANGE THERMISTOR i minimum maximum TI-Innovator™ Hub Commands version 1.2 151 Command: THERMISTOR i minimum maximum Advanced user Result: Set mapping for xxxxxxxxxx. Type or Addressable Component: Sensor ANALOG.IN i minimum maximum Command: ANALOG.IN i minimum maximum Advanced user Command Syntax: RANGE ANALOG.IN i minimum maximum Range: Describe: Changes/Sets the mapping of ADC input values from the ADC 0-16383 range to a user-selected range. The resulting sensor reading is mapped to this and a floating point result is returned. RANGE ANALOG.IN i minimum maximum Result: Set mapping for generic analog input objects. Type or Addressable Component: Sensor 152 TI-Innovator™ Hub Commands version 1.2 AVERAGE The AVERAGE command is used to set the number of ADC (Analog to Digital converter) samples taken to represent a single analog sensor reading. By default, the TIInnovator™ Hub sets a global value of three (3) readings to be taken for a sensor measurement. This is done to reduce variation due to noise etc. This default is adjustable between 1 and 25 by the SET AVERAGING n command. The current default can be obtained by the READ AVERAGING command. For individual sensors, the default can be changed after the CONNECT operation by using the AVERAGE command. The format is AVERAGE sensor [i] value where sensor is a sensor from the table below, [i] is the index, if needed to identify the specific sensor, and value is a number from 1 to 25. The sensor, when a sample is requested, will take value number of readings, 10 microseconds apart, summing the readings together and averaging them over the number of readings taken. An individual sensors averaging value may be obtained by READ sensor [i] AVERAGE . AVERAGE 'something' (for analog devices, sets the individual oversampling value for reading, from 1 to 25) Command: AVERAGE Command Syntax: AVERAGE Describe: Specifies the number of analog readings to take on a specific sensor to obtain a single reading of that sensor. Valid values are from 1 to 25 readings, taken 10 microseconds apart and averaged together. Sensors use the system default of 3 readings if not altered by changing the system global setting via a SET AVERAGING command. Result: Type or Addressable Component: TI-84 Plus CE TI-Nspire™ CX TI-Innovator™ Hub Commands version 1.2 153 BRIGHTNESS n Command: BRIGHTNESS n Command Syntax: AVERAGE BRIGHTNESS n Range: Where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used for the on-board light sensor. Result: Set oversampling for on-board brightness/light sensor. Type or Addressable Component: Sensor LOUDNESS i n Command: LOUDNESS i n Command Syntax: AVERAGE LOUDNESS i n Range: – where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used with an external sound loudness sensor. Result: Set oversampling for sound-level analog sensor. Type or Addressable Component: Sensor LIGHTLEVEL i n Command: LIGHTLEVEL i n Command Syntax: AVERAGE LIGHTLEVEL i n Range: – where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used for the external light 154 TI-Innovator™ Hub Commands version 1.2 Command: LIGHTLEVEL i n sensor connected to an analog input. Does not support I 2C light sensors. Result: Set oversampling for off-board light sensor (analog). Type or Addressable Component: Sensor TEMPERATURE i n Command: TEMPERATURE i n Command Syntax: AVERAGE TEMPERATURE i n Range: Where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used for the external temperature sensor connected to an analog input. Does not support I 2C or digital temperature sensors. Result: When using an analog-style thermistor temperature sensor, oversample this many times. Type or Addressable Component: Sensor POTENTIOMETER i n Command: POTENTIOMETER i n Command Syntax: AVERAGE POTENTIOMETER i n Range: Where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used with an external potentiometer, either a linear or rotary model. Result: Set oversampling for rotary/linear potentiometers. Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 155 MOISTURE i n Command: MOISTURE i n Command Syntax: AVERAGE MOISTURE i n Range: – where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used with an external moisture sensor. Result: Set oversampling for soil moisture analog sensor. Type or Addressable Component: Sensor THERMISTOR i n Command: THERMISTOR i n Command Syntax: AVERAGE THERMISTOR i n Range: Where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used with an external thermistor connected to an analog input. Result: Set oversampling for thermistor device analog input. Type or Addressable Component: Sensor ANALOG.IN i n Command: ANALOG.IN i n Command Syntax: AVERAGE ANALOG.IN i n 156 TI-Innovator™ Hub Commands version 1.2 Command: ANALOG.IN i n Range: Where n ranges from 1 to 25 Describe: Set the number of readings from the ADC to be used for the analog sensor attached to this generic analog item. Result: Sets oversampling count for generic analog input. Type or Addressable Component: Sensor PERIOD n Command: PERIOD n Command Syntax: PERIOD n Range: Describe: The AVERAGE command is somewhat unique for PERIOD in that it specifies how many distinct periods are to be measured and averaged together to obtain the desired measurement. Up to 25 samples may be taken to obtain the period measurement for a given pin. Result: Set number of samples of frequency to take to be average together to generate period. Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 157 DISCONNECT-Output DISCONNECT breaks the association between a specified control or sensor and the pin/port it is associated with. If the specified sensor or control is not currently connected to anything, an error is generated. The DISCONNECT command does not generate an active response, other than possible error responses. Pins associated with an actively connected sensor, or control, are released from use and, in general, are set to a digital input state with no enabled pullup/pulldown. DISCONNECT - disconnect something that has been connected, by index if needed. Command: DISCONNECT-Output Command Syntax: DISCONNECT Range: Describe: Removes the association of a sensor or control with a pin, or set of pins, if such association exists. Places the pin(s) back to an OUTPUT state. Result: . Type or Addressable Component: TI-84 Plus CE LIGHT Command: LIGHT Command Syntax: DISCONNECT LIGHT 158 TI-Innovator™ Hub Commands version 1.2 TI-Nspire™ CX Command: LIGHT Range: Describe: Disconnect the on-board RED LED used for direct program control from the system. Result: On-board LED disconnected Type or Addressable Component: Control COLOR Command: COLOR Command Syntax: DISCONNECT COLOR Range: Describe: Disconnects the on-board RGB LED item from use. This action (in the initial release of the TI-Innovator™) frees three (3) hardware map-able PWM signals for use on other pins.. Result: Disconnect on-board RGB LED. Type or Addressable Component: Control SOUND Command: SOUND Command Syntax: DISCONNECT SOUND Range: Describe: Disconnect the on-board speaker from its digital pin. Result: Disconnects on-board speaker. TI-Innovator™ Hub Commands version 1.2 159 Command: SOUND Type or Addressable Component: Control SPEAKER i Command: SPEAKER i Command Syntax: DISCONNECT SPEAKER i Range: Describe: Disconnect an external speaker from its digital pin. Result: Disconnect a speaker from a digital output pin. Type or Addressable Component: Control BUZZER i Command: BUZZER i Command Syntax: DISCONNECT BUZZER i Range: Describe: Disconnect an active buzzer from the system. Active buzzers play a tone when their signal is set high/on, and stop the tone when the signal is dropped to ground. DISCONNECT BUZZER i Result: ACTIVE buzzers disconnected from a digital pin. Type or Addressable Component: Control 160 TI-Innovator™ Hub Commands version 1.2 RELAY i Command: RELAY i Command Syntax: DISCONNECT RELAY i Range: Describe: Disconnect a digital relay interface from the system. Result: Relay disconnected. Type or Addressable Component: Control SERVO i Command: SERVO i Command Syntax: DISCONNECT SERVO i Code Sample: Range: Describe: Disconnect a sweep or continuous SERVO motor from the digital pin associated with the motor. Result: Servo motor disconnected. Type or Addressable Component: Control SERVO CONTINOUS i Command: SERVO CONTINOUSi Command DISCONNECT SERVO CONTINOUSi TI-Innovator™ Hub Commands version 1.2 161 Command: SERVO CONTINOUSi Syntax: Code Sample: Range: Describe: Disconnect a sweep or continuous SERVO motor from the digital pin associated with the motor. Result: Servo motor disconnected. Type or Addressable Component: Control DCMOTOR i Command: DCMOTOR i Command Syntax: DISCONNECT DCMOTOR i Range: Describe: Disconnects a DCMOTOR object from the system. DCMOTOR , ANALOG.OUT, and SQUAREWAVE all share the same number space of items. DCMOTOR requires external power. Result: Disconnect DCMOTOR from pin. Type or Addressable Component: Control SQUAREWAVE i Command: SQUAREWAVE i Command Syntax: DISCONNECT SQUAREWAVE i 162 TI-Innovator™ Hub Commands version 1.2 Command: SQUAREWAVE i Range: Describe: Disconnect the software generated squarewave generator from an associated digital output pin. The pin reverts to digital input upon disconnect. Result: Disconnect squarewave function from pin(s), stops squarewave generation. Type or Addressable Component: Control RGB i Command: RGB i Command Syntax: DISCONNECT RGB i Range: Describe: Disconnect an external RGB LED from the system. These objects use three hardware PWM signals to properly operate, so in the initial product release, the on-board COLOR object must be disconnected to connect one of these objects. Result: Disconnect RGB and free up PWM outputs for use elsewhere. Type or Addressable Component: Control ANALOG.OUT i Command: ANALOG.OUT i Command Syntax: DISCONNECT ANALOG.OUT i Range: Describe: Disconnects the connected generic analog output device specified, freeing TI-Innovator™ Hub Commands version 1.2 163 Command: ANALOG.OUT i a hardware map-able PWM if it is in use with the object. Result: Disconnect generic analog PWM output from pin. Type or Addressable Component: Control DIGITAL.OUT i Command: DIGITAL.OUT i Command Syntax: DISCONNECT DIGITAL.OUT i Range: Describe: Disconnect a generic DIGITAL object. The associated pin is reverted to a digital INPUT pin with no enabled pullup or pulldown. The DIGITAL object number can be used to refer the same pin in either input, or output form... Result: Disconnect digital input object. Type or Addressable Component: Control/Sensor 164 TI-Innovator™ Hub Commands version 1.2 DISCONNECT-Input DISCONNECT breaks the association between a specified control or sensor and the pin/port it is associated with. If the specified sensor or control is not currently connected to anything, an error is generated. The DISCONNECT command does not generate an active response, other than possible error responses. Pins associated with an actively connected sensor, or control, are released from use and, in general, are set to a digital input state with no enabled pullup/pulldown. DISCONNECT - disconnect something that has been connected, by index if needed. Command: DISCONNECT-Input... Command Syntax: DISCONNECT Range: Describe: Removes the association of a sensor or control with a pin, or set of pins, if such association exists. Places the pin(s) back to an INPUT state. Result: . Type or Addressable Component: TI-84 Plus CE TI-Nspire™ CX BRIGHTNESS Command: BRIGHTNESS Command Syntax: DISCONNECT BRIGHTNESS Range: TI-Innovator™ Hub Commands version 1.2 165 Command: BRIGHTNESS Describe: Disconnects the internal connection to the on-board BRIGHTNESS (light sensor) object. Result: Disconnect on-board LIGHT sensor. Type or Addressable Component: Sensor DHT i Command: DHT i Command Syntax: DISCONNECT DHT i Range: Temperature reading default is in Celsius Humidity reading from 0 to 100 % Describe: Disconnects the specified digital humidity DHT and temperature sensor from the system. This also removes that object from the period scan list of style sensors in the DHT task. Result: Digital humidity/temperature sensor(s) disconnected. Type or Addressable Component: Sensor RANGER i Command: RANGER i Command Syntax: DISCONNECT RANGER i Range: Describe: Disconnect a digital ultrasonic ranging sensor from the two digital pins it uses. Result: Ultrasonic ranging sensor disconnected. 166 TI-Innovator™ Hub Commands version 1.2 Command: RANGER i Type or Addressable Component: Sensor LOUDNESS i Command: LOUDNESS i Command Syntax: DISCONNECT LOUDNESS i Range: Describe: Disconnect an analog sound intensity (LOUDNESS) sensor. Result: Analog sound level sensor disconnected Type or Addressable Component: Sensor LIGHTLEVEL i Command: LIGHTLEVEL i Command Syntax: DISCONNECT LIGHTLEVEL i Range: Describe: Disconnect an external light sensor. Result: Light sensor disconnected. Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 167 TEMPERATURE i Command: TEMPERATURE i Command Syntax: DISCONNECT TEMPERATURE i Range: Temperature reading default is in Celsius. The range depends on the specific temperature sensor being used. Humidity reading from 0 to 100 % Describe: Disconnect a connected temperature sensor from the system. TEMPERATURE sensors can be either analog (thermistor-style). Disconnecting from the analog or digital reverts the associated pins to INPUT. Result: Disconnect temperature sensor. Type or Addressable Component: Sensor SWITCH Command: SWITCH Command Syntax: DISCONNECT SWITCH i Range: Describe: Disconnect a switch from its digital pin. The pin reverts to INPUT state, and the switch is removed from the scanning sequence in the BUTTON task. Result: disconnect switch object from pin Type or Addressable Component: Sensor BUTTON i Command: BUTTON i Command DISCONNECT BUTTON i 168 TI-Innovator™ Hub Commands version 1.2 Command: BUTTON i Syntax: Range: Describe: Disconnects the specified button object from the system and removes it from the list of scanned buttons/switches in the BUTTON task. Result: Digital button/switch is disconnected. Type or Addressable Component: Sensor MOTION i Command: MOTION i Command Syntax: DISCONNECT MOTION i Range: Describe: Disconnects a digital PIR (passive infrared) MOTION detector and removes the object from the scanning list in the BUTTON task. Result: Disconnect passive I/R motion detectors Type or Addressable Component: Sensor POTENTIOMETER i Command: POTENTIOMETER i Command Syntax: DISCONNECT POTENTIOMETER i Range: Describe: Disconnect an analog variable resistor (POTENTIOMETER ) from the system TI-Innovator™ Hub Commands version 1.2 169 Command: POTENTIOMETER i Result: Disconnect a rotary/linear potentiometer sensors Type or Addressable Component: Sensor MOISTURE i Command: MOISTURE i Command Syntax: DISCONNECT MOISTURE i Range: Describe: Disconnect an analog moisture sensor. Result: Disconnect analog moisture sensors Type or Addressable Component: Sensor THERMISTOR i Command: THERMISTOR i Command Syntax: DISCONNECT THERMISTOR i Range: Describe: Disconnect an analog thermistor sensor from the associated pin. Result: disconnect analog thermistor Type or Addressable Component: Sensor 170 TI-Innovator™ Hub Commands version 1.2 ANALOG.IN i Command: ANALOG.IN i Command Syntax: DISCONNECT ANALOG.IN i Range: Describe: Disconnects the connected generic analog input device specified. Result: Disconnect generic analog input from pin. Type or Addressable Component: Sensor DIGITAL.IN i Command: DIGITAL.IN i Command Syntax: DISCONNECT DIGITAL.IN i Range: Describe: Disconnect a generic DIGITAL object. The associated pin is reverted to a digital INPUT pin with no enabled pullup or pulldown. The DIGITAL object number can be used to refer the same pin in either input, or output form. Result: Disconnect digital input object. Type or Addressable Component: Control/Sensor TI-Innovator™ Hub Commands version 1.2 171 MANAGE The Manage menu pastes a Send( command with the following management items. Str0 is displayed on Home Screen with information if requested in the command. TI-84 Plus CE TI-Nspire™ CX BEGIN The BEGIN command disconnects all connected sensors and controls, re-initializes all sensor/control memory within the sketch, and resets the sensor average default value, error formatting, and flow control defaults. Additionally, all IN n port pins, and the breadboard connector ( BBn) pins are set to the INPUT pin mode. All OUTn port pins are set to the INPUT state, and allowed to float, including OUT3 which will read as high due to a pullup resistor from the 5V supply on this pin. When the entire process completes, a response of READY is sent to the host system. This response must be waited for by the host before any further operations are performed. Additional commands may be in the command queue to be executed, but will not be acted upon until this command completes. BEGIN Command: BEGIN Command Syntax: SEND("BEGIN" Describe: Disassociates sensors from ports or pins, and resets all settings back to defaults. Disconnects any connected sensor objects and restores system to state as if RESET button pressed. Result: Responds with a "READY" when completed. Type or Addressable Component: Not Applicable Note: The [ : ] is used to sequence command lines on one command line. The Manage… menu pastes a convenient set of commands to then display the information in Str0 on the home screen. 172 TI-Innovator™ Hub Commands version 1.2 ISTI The ISTI command is used to synchronize communications with the sketch. The response to this command must be TISTEM. Responses may have a leading NUL (0) character on initial power-on of the Innovator hub. All responses from the Innovator hub will be followed with a CR/LF pair that may or may not be stripped by software layers in the host system prior to the response being received by the application layer on the host system. ISTI Command: ISTI Command Syntax: ISTI Describe: Send "ISTI", and get response "TISTEM". Result: Handshake command used to determine presence of a supported “sketch” on the TI-Innovaotr™ Hub. Type or Addressable Component: WHO WHO is an identification command (similar to the ISTI handshake command below) that can be used to determine what product is present and running the sketch. The correct response to WHO is "TI INNOVATOR ON MSP432" when this command is sent to the TI-Innovator Hub. WHO Command: WHO Command Syntax: WHO Describe: Identification command to determine what product is running the sketch. Send ("WHO") Get Str0 Disp Str0 Result: Identify the product - TI INNOVATOR ON MSP432. Type or Addressable Component: TI-Innovator™ Hub Commands version 1.2 173 WHAT The WHAT command is an identification command. The response to WHAT for TIInnovator is "TI INNOVATOR HUB". WHAT Command: WHAT Command Syntax: WHAT Describe: Product name query. Identify the product - "TI INNOVATOR HUB " Send ("WHAT") Get Str0 Disp Str0 Result: Identify the product. Type or Addressable Component: HELP HELP is used to obtain quick information about each of these commands. The HELP command-name is sent, and generates a string response with a one-line description of the given command. HELP Command: HELP Command Syntax: HELP Describe: Provides per command quick help information. i.e. HELP SET, etc. Result: Type or Addressable Component: 174 TI-Innovator™ Hub Commands version 1.2 VERSION The VERSION command has a response that represents the current version of the sketch running on the TI-Innovator™ Hub. The version will be of the major.minor.patch.build form in released products; for example, 1.0.0. VERSION Command: VERSION Command Syntax: VERSION Describe: Returns version number (and possibly Accurev stream name from which sketch was built). Result: Report the version of the sketch in format major.minor.patch.build. Send ("VERSION") Get Str0 Disp Str0 Type or Addressable Component: ABOUT The ABOUT command response is the product line name along with a copyright date and owner. The current response to this command is "TI INNOVATOR (C)2015-2016 TEXAS INSTRUMENTS". ABOUT Command: ABOUT Command Syntax: ABOUT Describe: Product name and copyright information returned. Send ("ABOUT") Get Str0 Disp Str0 Result: Returns copyright string. "TI INNOVATOR (C)2015-2016 TEXAS INSTRUMENTS" Type or Addressable Component: TI-Innovator™ Hub Commands version 1.2 175 Additional Supported Commands The following sets of supported commands are not found in the Hub Menus. Additional SET Commands FORMAT ERROR STRING/NUMBER Command: FORMAT ERROR STRING/NUMBER Advanced user Command Syntax: SET FORMAT ERROR STRING/NUMBER Range: Describe: Used for setting error return format and optional audible tone on error. SET FORMAT ERROR STRING/NUMBER – returned error codes in string or numeric format. Result: Sets the format for the return of error information (numbers, or strings). Type or Addressable Component: Setting FORMAT ERROR NOTE/QUIET Command: FORMAT ERROR NOTE/QUIET Advanced user Command Syntax: SET FORMAT ERROR NOTE/QUIET Range: Describe: Used for setting error return format and optional audible tone on error. SET FORMAT ERROR NOTE/QUIET – error display flash accompanied by speaker sound or no sound. Result: Enables tones, or disables tones in addition to the string/number reporting 176 TI-Innovator™ Hub Commands version 1.2 Command: FORMAT ERROR NOTE/QUIET Advanced user above. Type or Addressable Component: Setting FLOW [TO] ON/OFF Command: FLOW [TO] ON/OFF Advanced user Command Syntax: SET FLOW [TO] ON/OFF Range: Describe: Enables (ON ) or disables (OFF ) the software flow control mechanism between the sketch and the communications hardware. NOTE: When the SEGDISP module is CONNECTed, this setting determines whether or not the display module shows error information (flow control disabled), or command queue depth (flow control enabled). Result: Turn on xon/xoff flow control, or turn off (no flow control) Type or Addressable Component: Setting OUT1/2/3 [TO] Command: OUT1/2/3 [TO] Command Syntax: OUT1/2/3 [TO] ... SET OUTn 0-255 SET OUTn HIGH/ON SET OUTn LOW/OFF TI-Innovator™ Hub Commands version 1.2 177 Command: OUT1/2/3 [TO] Range: Set analog PWM value on OUT port(s) of the TI-Innovator™Hub Describe: Direct output of information to a given output port. These are PWM outputs on the TI-Innovator™ Hub. Set analog PWM value on TI-Innovator™ Hub OUT port(s). SET OUTn 0-255 – 0=off, 255=on, anything else is a PWM signal @ 500 Hz with duty cycle high from 1 to 254, where that range provides a percentage of the high-time signal of the waveform. SET OUTn HIGH/ON – same as 255 SET OUTn LOW/OFF – same as 0 Result: Set analog PWM value on OUT port(s) of the TI-Innovator™ Hub Type or Addressable Component: Port 178 TI-Innovator™ Hub Commands version 1.2 Additional READ Commands BUZZER i Command: BUZZER i Command Syntax: READ BUZZER i Range: Describe: Returns the current state of the active buzzer specified; 0 = silent , 1 = playing tone. Result: Returns state of active buzzer, 0=silent, 1=on Type or Addressable Component: Control COLOR Command: COLOR Command Syntax: READ COLOR Range: Describe: Read the current output state of the on-board COLOR RGB LED with subcomponents .RED, .GREEN , .BLUE. When reading the entire item, a list of three values is returned, with values between 0 and 255 where 0=off, 255=full on, and values in between indicate PWM levels. READ COLOR – returns list of 3 values representing { red, green, blue } PWM levels READ COLOR.RED READ COLOR.GREEN READ COLOR.BLUE See Also: RGB i Result: Returns list of 3 values representing { red, green, blue } PWM levels. TI-Innovator™ Hub Commands version 1.2 179 Command: COLOR Returns RED/GREEN/BLUE values for on-board RGB (color) LED. Type or Addressable Component: Control COLOR.RED Command: COLOR RED Command Syntax: READ COLOR.RED Range: Describe: Read the current output state of the on-board COLOR RGB LED with subcomponents .RED, .GREEN , .BLUE. When reading the entire item, a list of three values is returned, with values between 0 and 255 where 0=off, 255=full on, and values in between indicate PWM levels. READ COLOR.RED Result: Returns values representing {red} PWM levels. Returns RED values for on-board RGB (color) LED. Type or Addressable Component: Control COLOR.GREEN Command: COLOR GREEN Command Syntax: READ COLOR.GREEN Range: 180 TI-Innovator™ Hub Commands version 1.2 Command: COLOR GREEN Describe: Read the current output state of the on-board COLOR RGB LED with subcomponents .RED, .GREEN , .BLUE. When reading the entire item, a list of three values is returned, with values between 0 and 255 where 0=off, 255=full on, and values in between indicate PWM levels. READ COLOR.GREEN Result: Returns list of 3 values representing { red, green, blue } PWM levels. Returns RED/GREEN/BLUE values for on-board RGB (color) LED. Type or Addressable Component: Control COLOR.BLUE Command: COLOR BLUE Command Syntax: READ COLOR.BLUE Range: Describe: Read the current output state of the on-board COLOR RGB LED with subcomponents .RED, .GREEN , .BLUE. When reading the entire item, a list of three values is returned, with values between 0 and 255 where 0=off, 255=full on, and values in between indicate PWM levels. READ COLOR.BLUE Result: Returns list of 3 values representing { red, green, blue } PWM levels. Returns RED/GREEN/BLUE values for on-board RGB (color) LED. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 181 DCMOTOR i Command: DCMOTOR i Command Syntax: READ DCMOTOR i Range: Describe: Motor that converts direct current electrical power into mechanical power. Result: Returns whether dcmotor is running (1) or stopped (0). Type or Addressable Component: Control DIGITAL.OUT i Command: DIGITAL.OUT i Command Syntax: READ DIGITAL.OUT i Range: Describe: Returns the current state of the digital pin connected to the DIGITAL object, or the cached state of the digital output value last SET to the object. Result: Return 0 (output low), 1 (output high). Type or Addressable Component: Control/Sensor 182 TI-Innovator™ Hub Commands version 1.2 FORMAT Command: FORMAT Advanced user Command Syntax: READ FORMAT Range: Describe: Return the current formatting flags for error reporting. The value returned is a byte value indicating various flags. Masking with values indicates what error reporting options are active. 1 = ERROR strings reported 2 = ERROR numbers reported +4 = ERROR TONE enabled, if not set, errors are reported silently. Result: Read error format (1=strings, 2=numbers, +4 to either: tones enabled). Type or Addressable Component: Setting FLOW Command: FLOW Advanced user Command Syntax: READ FLOW Range: Describe: Returns the current flow control setting; 0=disabled, 1=enabled. Result: Read current flow control, 0 = none, 1 = xon/xoff Type or Addressable Component: Setting TI-Innovator™ Hub Commands version 1.2 183 IN1/IN2/IN3 Command: IN1/IN2/IN3 Command Syntax: READ IN1 READ IN2 READ IN3 Range: Describe: Read the value present on the indicated port, and return that value to the host. Result: Read value of analog port on TI STEM board Type or Addressable Component: Port LAST ERROR Command: LAST ERROR Command Syntax: READ LAST ERROR Range: Describe: Returns the last reported error from the last operation. Depending on the FORMAT ERROR setting, the response may be a STRING or a NUMBER . Result: Return last encountered error, resets automatically to 0, no error. Type or Addressable Component: Setting 184 TI-Innovator™ Hub Commands version 1.2 LED i Command: LED i Command Syntax: READ LED i Range: Describe: Read the current state of the specified LED. If the LED is digital, a 0 or 1 is returned indicating the LED is off or on. If the LED is connected to a PWM output, a value from 0 to 255 will be returned, indicating the current PWM level where 0 is off, 255 is full on, and values in between indicate the current PWM setting. Result: Get state of LED, 0 or 1 if digital, 0-255 if PWM on analog. Type or Addressable Component: Control LIGHT Command: LIGHT Command Syntax: READ LIGHT Range: Describe: Returns the state of the on-board RED LED (digital only). A value of 0 is off, and 1 is on. Result: Get current state of on-board red LED (0=off, 1=on). Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 185 OUT1/2/3 Command: OUT1/2/3 Command Syntax: READ OUT1 READ OUT2 READ OUT3 Range: Describe: Read value of current port as input (may be a digital read since these do not support analog-input. READ OUT1/OUT2/OUT3 Result: Read value of analog port on TI STEM board. Type or Addressable Component: Port PWR Command: PWR Command Syntax: READ PWR Range: Describe: Returns the current state of presence of external power connected to the PWR port. The PWR port is read, and a status value of 0 (not present) or 1 (present) is returned, based on whether or not external power is available. READ PWR Result: Returns state of external power presence on PWR port (0=not present, 1=ext pwr present). Type or Addressable Component: Status 186 TI-Innovator™ Hub Commands version 1.2 RELAY i Command: RELAY i Command Syntax: READ RELAY i Range: Describe: Return the current state of the specified relay. 0 = OFF, 1 = ON. Result: Read state of relay - 0=not active 1=active. Type or Addressable Component: Control RESOLUTION Command: RESOLUTION Command Syntax: READ RESOLUTION Range: Describe: Returns the bit resolution used by the system for ADC readings. Result: Returns ADC resolution in use, in bits (default is 14). Type or Addressable Component: Setting RGB i Command: RGB i Command Syntax: READ RGB i TI-Innovator™ Hub Commands version 1.2 187 Command: RGB i Range: Describe: Same as the COLOR object referenced above, and has sub-objects named RED, GREEN , and BLUE. This command returns the current PWM level that the specified object is using. READ RGB i – returns a 3 element list, consisting of the { red, green, blue } color level. READ RED i – returns just the current red-component level. READ GREEN i READ BLUE i Result: Get state of RGB LED, {r,g,b} list values Type or Addressable Component: Control RED i Command: RED i Command Syntax: READ RED i Range: Describe: Same as the COLOR object referenced above, and has sub-objects named RED, GREEN , and BLUE. This command returns the current PWM level that the specified object is using. READ RGB i – returns a 3 element list, consisting of the { red, green, blue } color level. READ RED i – returns just the current red-component level. Result: Get state of RGB RED component. Type or Addressable Component: Control 188 TI-Innovator™ Hub Commands version 1.2 GREEN i Command: GREEN i Command Syntax: READ GREEN i Range: Describe: Same as the COLOR object referenced above, and has sub-objects named RED, GREEN , and BLUE. This command returns the current PWM level that the specified object is using. READ RGB i – returns a 3 element list, consisting of the { red, green, blue } color level. READ GREEN i – returns just the current green-component level. Result: Get state of RGB GREEN component. Type or Addressable Component: Control BLUE i Command: BLUE i Command Syntax: READ BLUE i Range: Describe: Same as the COLOR object referenced above, and has sub-objects named RED, GREEN , and BLUE. This command returns the current PWM level that the specified object is using. READ RGB i – returns a 3 element list, consisting of the { red, green, blue } color level. READ BLUE i – returns just the current blue-component level Result: Get state of RGB BLUE component. Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 189 SERVO i Command: SERVO i Command Syntax: READ SERVO i Range: Describe: Returns the current position of a sweep servo in the range -90 to 90, OR the current speed of rotation of a continuous servo motor. Additionally, the current “calibration” setting for the servo which consists of a 2-element list representing the lower and upper microsecond pulse widths corresponding to the sweep/rotation ranges may be read. READ SERVO i – get current sweep position or rotation speed/direction. READ SERVO i CALIBRATION – get current microsecond range for sweep or rotation. Result: Return current servo position in degrees from -90 to +90. Type or Addressable Component: Control SERVO i CALIBRATION Command: SERVO i CALIBRATION Advanced user Command Syntax: READ SERVO i CALIBRATION Range: Describe: Returns the current position of a sweep servo in the range -90 to 90, OR the current speed of rotation of a continuous servo motor. Additionally, the current “calibration” setting for the servo which consists of a 2-element list representing the lower and upper microsecond pulse widths corresponding to the sweep/rotation ranges may be read. READ SERVO i CALIBRATION – get current microsecond range for sweep or rotation. Result: Return current servo position in degrees from -90 to +90. Type or Addressable Component: Control 190 TI-Innovator™ Hub Commands version 1.2 SOUND Command: SOUND Command Syntax: READ SOUND Range: Describe: Returns a value indicating whether sound is currently being played (1) or not (0) through the on-board speaker. Result: Return whether on-board speaker is playing a tone (1) or is silent(0). Type or Addressable Component: Control SPEAKER i Command: SPEAKER i Command Syntax: READ SPEAKER i Range: Describe: Returns a value indicating whether sound is currently being played (1) or not (0) through an external speaker. Result: Return whether speaker is playing a tone (1) or silent (0). Type or Addressable Component: Control TI-Innovator™ Hub Commands version 1.2 191 SQUAREWAVE i Command: SQUAREWAVE i Command Syntax: READ SQUAREWAVE i Range: Describe: Returns a 0 the current squarewave object is not active. A value of 1 is returned if the object is actively generating an output. Result: Returns whether squarewave is active (1) or not active (0). Type or Addressable Component: Control 192 TI-Innovator™ Hub Commands version 1.2 Additional AVERAGE Commands PERIOD n Command: PERIOD n Command Syntax: PERIOD n Range: Describe: The AVERAGE command is somewhat unique for PERIOD in that it specifies how many distinct periods are to be measured and averaged together to obtain the desired measurement. Up to 25 samples may be taken to obtain the period measurement for a given pin. Result: Set number of samples of frequency to take to be average together to generate period. Type or Addressable Component: Sensor TI-Innovator™ Hub Commands version 1.2 193 Additional CALIBRATION Commands CALIBRATE CALIBRATE is used to set various sensor and control values that do not otherwise fit within a means of setting any other way. For thermistors and temperature sensors that use an analog input port, it can be used to adjust the coefficients of the SteinhartHart equation used to map thermistor readings to temperature values. For servo motors, it is used to adjust the PWM pulse width within the range for a servo motor, where the zero position is set at 1500 microseconds. It is also used to set the calibration frequency for the DDS signal generator module (default is 24MHz). For sensors supporting calibration, the value(s) may be obtained by READ sensor [i] CALIBRATION . SERVO i / SERVO.CONTINUOUS i Command: SERVO i /SERVO.CONTINUOUS i minimum maximum Advanced user Command Syntax: CALIBRATE SERVO i minimum maximum Code Sample: Range: Describe: Servos operate by using pulse modulation where the high pulse width determines both direction of servo operation and possibly the speed of operation. The time between pulses is generally 20 milliseconds and is not adjustable by this command. The pulse width generally varies around a mid-point of 1.5 milliseconds (1500 microseconds). Pulse widths less than 1.5 milliseconds cause servo operation in one direction, while pulse widths greater than 1.5 milliseconds cause operation in the opposite direction. The CALIBRATE command for SERVO allows programmable changes to the minimum and maximum pulse widths. Parameters are pulse width times in microseconds. Current defaults are minimum 600 and maximum 2400 microseconds. Result: Set minimum and maximum pulse width for servo motor, values in microseconds, default 600 and 2400. 194 TI-Innovator™ Hub Commands version 1.2 Command: SERVO i /SERVO.CONTINUOUS i minimum maximum Advanced user Type or Addressable Component: Control TEMPERATURE i C1 C2 C3 R1 Command: TEMPERATURE i C1 C2 C3 R1 Advanced user Command Syntax: CALIBRATE TEMPERATURE i C1 C2 C3 R1 Range: Describe: The CALIBRATE command for analog temperature sensors allows changing the default Steinhart-Hart equation coefficients to match those of the thermistor element in the sensor being used. The default values are: C1: 8.76741e-8 C2: 2.34125e-4 C3: 1.129148e-3 R1: 10000.0 (reference resistor value = 10kΩ) Result: When using an analog-style thermistor temperature sensor. Type or Addressable Component: Sensor THERMISTOR i C1 C2 C3 R1 Command: THERMISTOR i C1 C2 C3 R1 Advanced user Command Syntax: CALIBRATE THERMISTOR i C1 C2 C3 R1 Range: TI-Innovator™ Hub Commands version 1.2 195 Command: THERMISTOR i C1 C2 C3 R1 Advanced user Describe: The CALIBRATE command for analog thermistors allows changing the default Steinhart-Hart equation coefficients to match those of the thermistor element in the sensor being used. The default values are: C1: 1.33342e-7 C2: 2.22468e-4 C3: 1.02119e-3 R1: 15000.0 (reference resistor value = 15kΩ) Result: Where c1/c2/c3 are float constants for the Steinhart-Hart equation. ... that models the thermistor, and r is resistance for the reference. ... resistor used to create a voltage divider with the thermistor. Type or Addressable Component: Sensor 196 TI-Innovator™ Hub Commands version 1.2 TI-Innovator™ Hub Data Sheets The TI-Innovator™ Hub Data Sheets include the following; a product name and number, a brief description, a product image, specifications, on-board components function, and Hub commands with simple code samples. Topic Links • TI-Innovator™ Hub Data Sheet - • TI-Innovator™ Hub Ports and Breadboard Usable Pins TI-Innovator™ Hub On-Board Component Data Sheets - On-Board RGB LED Data Sheet On-Board Red LED Data Sheet On-Board Speaker Data Sheet On-Board Light Brightness Sensor Data Sheet On-Board - Auxiliary Power Indicator Data Sheet On-Board Green LED - Power Indicator Data Sheet On-Board Red LED - Error Indicator Data Sheet • USB Mini A to Mini B Cable Data Sheet • USB Standard A to Mini B Cable Data Sheet • USB Standard A to Micro B Cable Data Sheet • TI Wall Charger Data Sheet • External Battery Data Sheet TI-Innovator™ Hub Data Sheets 197 TI-Innovator™ Hub Data Sheet Title TI-Innovator™ Hub TI Item Name STEM/BK/B Quantity 1 Included in TI-Innovator™ Hub Description Use the TI-Innovator™ Hub with your compatible TI graphing calculator or TI-Nspire™ software to control components, read sensors, and create powerful learning experiences. Category Hub Hub Connection Not Applicable Assembly Instructions Not Applicable Precautions Do not expose the Hub to temperatures above 140˚F (60˚C). Do not disassemble or mistreat the Hub. Do not chain together multiple Hubs through the I/O ports or the Breadboard Connector. Use only the USB cables provided with the Hub. Use only the TI provided power supplies: • TI Wall Charger included with the TI-Innovator™ Hub • Optional External Battery 4-AA battery holder included in the TI-Innovator™ Breadboard Pack Ensure that the components receiving power from the Hub do not exceed the Hub’s 1-amp power limit. Avoid using the Hub to control AC electricity. See also: TI-Innovator™ Hub Ports and Breadboard Usable Pins 198 TI-Innovator™ Hub Data Sheets Title TI-Innovator™ Hub Specifications See the TI-Innovator™ Hub specifications section of education.ti.com/go/innovator. TI-Innovator™ Hub Data Sheets 199 TI-Innovator™ Hub Ports and Breadboard Usable Pins Breadboard Connector Characteristics Different pins on the breadboard connector have different capabilities. Pin Digital I/O Pulse Width ANALOG IN Modulation (PWM) BB1 Y BB2 Y BB3 Y BB4 Y BB5 Y Y BB6 Y Y BB7 Y Y BB8 Y Y BB9 Y Y BB10 Y Y 200 Y TI-Innovator™ Hub Data Sheets TI-Innovator™ Hub On-Board Component Data Sheets Topic Links - On-Board RGB LED Data Sheet On-Board Red LED Data Sheet On-Board Speaker Data Sheet On-Board Light Brightness Sensor Data Sheet On-Board - Auxiliary Power Indicator Data Sheet On-Board Green LED - Power Indicator Data Sheet On-Board Red LED - Error Indicator Data Sheet On-Board RGB LED Data Sheet Title On-Board RGB LED TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Built-in light-emitting diode (LED) that is capable of emitting a variety of colors when current passes through it. Category LEDs and Displays Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable HUB Commands Sketch Object COLOR Command Syntax Send("SET COLOR …") ON/OFF/0-255 (red element) TI-Innovator™ Hub Data Sheets 201 HUB Commands ON/OFF/0-255 (green element) ON/OFF/0-255 (blue element) [BLINK frequency] (in Hz) [TIME duration] (in seconds) Code Sample: 202 Desired Action Code Sample Turn ON Red and Green elements of tri-color LED Send("SET COLOR ON ON OFF") Set Red to full intensity, Green to half intensity, Blue to off Send("SET COLOR 255 128 0") Set Red to full intensity, Green to half intensity, Blue to off for 10 seconds Send("SET COLOR 255 128 0 TIME 10") Set Red to full intensity, Green to half intensity, Blue to off and blink them at 2 Hz (2 times a second) for 10 seconds Send("SET COLOR 255 128 0 BLINK 2 TIME 10") Turn OFF the Red element Send("SET COLOR.RED 0") Turn ON the Green element at half intensity and blink it at 2 Hz for 10 seconds Send("SET COLOR.GREEN 128 BLINK 2 TIME 10") TI-Innovator™ Hub Data Sheets On-Board Red LED Data Sheet Title On-Board Red LED TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Built-in light-emitting diode (LED) that emits a red light when current passes through it. Category LEDs and Displays Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable HUB Commands Sketch Object LIGHT Command Syntax Send("SET LIGHT …") ON/OFF [BLINK frequency] [TIME duration] (in seconds) Code Sample: Desired Action Code Sample Turn LED ON Send("SET LIGHT ON") Turn LED OFF Send("SET LIGHT OFF") Turn LED ON for 10 seconds Send("SET LIGHT ON TIME 10" Turn LED ON, blink it at 2 Hz for 10 seconds Send("SET LIGHT ON BLINK 2 TIME 10") TI-Innovator™ Hub Data Sheets 203 See Also: Red LED - Error Indicator 204 TI-Innovator™ Hub Data Sheets On-Board Speaker Data Sheet Speaker (at back of Hub) is addressable as "SOUND" in Hub command strings. Title On-Board Speaker TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Built-in speaker located at the back of the Hub. It converts electrical current into sound you can hear. Category Sound Output Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable HUB Commands Sketch Object SOUND Command Syntax Send("SET SOUND …") Frequency in Hz or Note as C1, CS1, D2, ... [TIME duration in seconds] Code Sample: Desired Action Code Sample Play tone at 261.23 Hz Send("SET SOUND 261.23") Evaluate the expression 2^8 (= 256) and play that tone Send("SET SOUND eval (2^8)") TI-Innovator™ Hub Data Sheets 205 HUB Commands 206 Desired Action Code Sample Evaluate the expression 2^8 ( = 256) and play that tone for .25 seconds Send("SET SOUND eval (2^8) TIME .25") Evaluate the expression 2^9 (= 512) and play that tone for 0.25 seconds (result of evaluating 1/4) Send("SET SOUND eval (2^9) TIME eval(1/4)") Turn speaker off Send("SET SOUND OFF") TI-Innovator™ Hub Data Sheets On-Board Light Brightness Sensor Data Sheet Title On-Board Light Brightness Sensor TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Built-in light brightness sensor located at the bottom of the Hub. The sensor detects light intensity. Category Environmental Sensors Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable HUB Commands Sketch Object BRIGHTNESS Command Syntax Send("READ BRIGHTNESS") Code Sample: Desired Action Code Sample Read the built-in light brightness sensor Send("READ BRIGHTNESS") Get(B) TI-Innovator™ Hub Data Sheets 207 On-Board - Auxiliary Power Indicator Data Sheet Title Auxiliary Power Indicator (LED102) TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Indicates a Auxiliary power connection. Category LEDs and Displays Hub Connection on-board Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable 208 TI-Innovator™ Hub Data Sheets On-Board Green LED - Power Indicator Data Sheet Title Green LED - Power Indicator TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Indicates a USB connection on the DATA port. Category LEDs and Displays Hub Connection on-board Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable TI-Innovator™ Hub Data Sheets 209 On-Board Red LED - Error Indicator Data Sheet Title Red LED - Error Indicator TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Indicates an error in the sketch command. Category LEDs and Displays Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable See Also: On-Board Red LED 210 TI-Innovator™ Hub Data Sheets USB Mini A to Mini B Cable Data Sheet Title USB Mini A to Mini B Cable TI Item Name XX/CA/USB15/A Quantity 1 Included in TI-Innovator™ Hub Description Connects the Hub to a TI-84 Plus CE Graphing Calculator or a TI-Nspire™ CX Handheld.. Category Accessories Hub Connection Not Applicable Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable TI-Innovator™ Hub Data Sheets 211 USB Standard A to Mini B Cable Data Sheet Title USB Standard A to Mini B Cable TI Item Name STEM/CA/USB20/A Quantity 1 Included in TI-Innovator™ Hub Description Connects the Hub to a computer running TI-Nspire™ CX Software. Category Accessories Hub Connection "B" connector to the USB Mini-B port Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable 212 TI-Innovator™ Hub Data Sheets USB Standard A to Micro B Cable Data Sheet Title USB Standard A to Micro B Cable TI Item Name XX/CA/USB60/C Quantity 1 Included in TI-Innovator™ Hub Description Connects the Hub to a TI approved power source used with peripherals that require the 5V output port. Category Accessories Hub Connection "B" connector to the USB Mini-B port Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable TI-Innovator™ Hub Data Sheets 213 TI Wall Charger Data Sheet Title TI Wall Charger TI Item Name XX/AD/9212USB/A Quantity 1 Included in TI-Innovator™ Hub Description Wall charger that supplies power through the TI-Innovator™ Hub for connected modules that require additional power. Category Accessories Hub Connection Micro connector of the USB Standard A to Micro B Cable to the PWR connector Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable 214 TI-Innovator™ Hub Data Sheets External Battery Data Sheet Title External Battery TI Item Name STEMBT/A Quantity 1 Included in External Battery Pack Description External battery that supplies power through the TIInnovator™ Hub for connected modules that require additional power. Category Accessories Hub Connection Micro connector of the USB Standard A to Micro B Cable to the PWR connector. Assembly Instructions Connect to PWR port on TI-Innovator™ Hub Precautions Not Applicable Specifications Not Applicable TI-Innovator™ Hub Data Sheets 215 TI-Innovator™ Rover Setup Guide TI-Innovator™ Rover is a two-wheeled programmable robotic vehicle which works with the TI-Innovator™ Hub with TI LaunchPad™ Board. You communicate with the TIInnovator™ Hub and control the Rover through TI Basic programming commands. Builtin components include two motors, color sensor, ultrasonic ranger, gyroscope, and RGB LED. Topics to help you get started include: • TI-Innovator™ Rover Overview • What's in the Box • TI-Innovator™ Rover Setup Requirements • Preparing TI-Innovator™ Rover • Connecting TI-Innovator™ Rover • Exploring the Assembled TI-Innovator™ Rover • General Precautions 216 TI-Innovator™ Rover Setup Guide TI-Innovator™ Rover Overview TI-Innovator™ Rover is a two-wheeled programmable robotic vehicle which works with the TI-Innovator™ Hub with TI LaunchPad™ Board. You communicate with the Hub and control the Rover through TI Basic programs on one of these TI products: • TI CE Family of Graphing Calculators (TI-83 Premium CE, TI-84 Plus CE, and TI-84 Plus CE-T) with operating system version 5.3 or later installed. You also need to install or update the Hub App, which contains the Hub menu. • TI-Nspire™ CX or TI-Nspire™ CX CAS handheld with operating system version 4.5 or later installed • TI-Nspire™ computer software version 4.5 or later Follow this guide to setup your TI-Innovator™ Rover with your TI CE Graphing Calculator or TI-Nspire™ CX Handheld. Learn More Refer to the TI-Innovator™ Technology eGuide for more details. The eGuide is a web-based source of TI-Innovator™ information, including: • Programming with the TI CE Family of Graphing Calculators and TI-Nspire™ Technology, including sample programs. • Available I/O Modules and their commands. • Available Breadboard components and their commands. • TI-Innovator™ Rover and its commands. • Link to update the TI-Innovator™ Sketch software. • Free classroom activities for Hub and Rover. To access the eGuide, visit https://education.ti.com/go/eguide/hub/EN. For a list of precautions to take while using the Rover and its components, refer to General Precautions (page 228). TI-Innovator™ Rover Setup Guide 217 TI-Innovator™ Rover Setup Requirements To set up your TI-Innovator™ Rover with your TI-Innovator™ Hub and graphing calculator you will need these materials. Component Image Description TI-Innovator™ Rover A two-wheeled programmable robotic vehicle which works with the Hub. Breadboard Ribbon Cable Connects the Rover to the Hub's Breadboard Connector. I2C Cable Connects the Rover to the Hub's I2C port. TI-Innovator™ Hub with TI LaunchPad™ Board Controls the Rover through TI Basic programming commands. USB Unit-to-Unit (Mini-A to Mini-B) Cable Included with the Hub. Connects the Hub to a TI CE Graphing Calculator or a TI-Nspire™ CX Handheld. USB Standard A to Micro Cable Included with the Hub. Connects the PWR port of the Rover to a TI approved power source. TI CE Graphing Calculator or TI-Nspire™ CX Handheld Runs TI Basic programs to send commands to the Hub. TI Wall Charger Included with the Hub. Power source for charging the Rover. 218 TI-Innovator™ Rover Setup Guide xxxxxxxx Preparing TI-Innovator™ Rover Follow these steps to fully charge your TI-Innovator™ Rover. 1. Identify the Micro connector on the USB Standard A to Micro cable. 2. Insert the Micro connector into the PWR port on the side of the Rover. 3. Insert the free end of the cable (the "A" connector) into the USB port on your computer or TI Wall Charger. Note: The Battery Level Indicator shows solid green when the battery is fully charged. Make sure the TI-Innovator™ Rover is switched OFF before connecting to the TI-Innovator™ Hub. ▶ Flip the On/Off (I/O) switch to the Off (O) position. TI-Innovator™ Rover Setup Guide 219 Connecting TI-Innovator™ Rover There are two sets of connection steps to use the TI-Innovator™ Rover. • First, connect the Rover to the TI-Innovator™ Hub, using the two ribbon cables provided. • Second, connect the Hub to a graphing calculator, using the USB Unit-to-Unit (Mini-A to Mini-B) cable included with the Hub. Connecting TI-Innovator™ Rover to TI-Innovator™ Hub 1. Insert the Breadboard Ribbon Cable into the Breadboard Connector on the Hub. Note: It is critical that you insert the cable correctly. Make sure the red (dark) wire pin is inserted into the 5v hole on the Hub's Breadboard Connector. 2. Carefully guide the attached Ribbon Cable through the opening at the back of the Rover. 3. As the cable comes through, slide the Hub into place using the Guide Rails . You will hear a click when the Hub is properly inserted. 220 TI-Innovator™ Rover Setup Guide 4. Open the two latches on the Rover Circuit Board Ribbon Cable Connector. 5. Align the notch in the ribbon cable with the slot on circuit board connector. 6. Insert the ribbon cable and close the latches. 7. Insert one end of the I2C Cable into the Rover circuit board. Note: There are two possible I2C ports . Use Port 1. TI-Innovator™ Rover Setup Guide 221 8. Insert the slack I2C Cable into the side rails. 9. Align the tab on the I2C Cable with the top of the I2C port. 10. Insert the free end of the I2C Cable connector into the I2C port at the back of the Hub. 222 TI-Innovator™ Rover Setup Guide Connecting TI-Innovator™ Hub to a Graphing Calculator 1. Turn the Rover right side up. 2. Lift and turn the Calculator Holder Pegs so that they are parallel with the side of the Rover. 3. Place the TI CE Graphing Calculator or TI-Nspire™ CX Handheld on the platform with the screen toward the Marker Holder. 4. Turn the pegs so that the CE or CX Label is positioned inward to match the graphing calculator. The pegs will snap into place when they are positioned correctly. Caution: Do not turn the Calculator Holder Pegs without lifting them first. They could break. 5. Identify the "B" connector on the USB Unit-to-Unit (Mini-A to Mini-B) cable. Each end of this cable is embossed with a letter. 6. Insert the "B" connector into the DATA port on the Hub. 7. Insert the free end of the cable (the "A" connector) into the USB port on the graphing calculator. TI-Innovator™ Rover Setup Guide 223 Exploring the Assembled TI-Innovator™ Rover Explore all sides of the TI-Innovator™ Rover when assembled with the TI-Innovator™ Hub and TI CE Graphing Calculator or TI-Nspire™ CX Handheld connected. Top Side of the Rover Marker Holder - Holds a marker to draw paths. ON/OFF (I/O) Switch - Turns the Rover ON (–) or OFF (O) . Calculator Holder Pegs - Secures a graphing calculator to the calculator platform. Calculator Platform - Holds either a TI CE Graphing Calculator or TI-Nspire™ CX Handheld. LED Panel (RGB LED/Battery Level Indicator) - Displays programmable feedback through the Red-Green-Blue (RGB) LED, and displays battery charge level. 224 TI-Innovator™ Rover Setup Guide Bottom Side of the Rover Color Sensor - Bottom-mounted color sensor detects the color of the surface. Can also detect gray-level scale of black (0) to white (255). Gyroscope - Measures or maintains orientation. I2C expansion port. Ball Caster - Provides smooth movement on hard surface. Note: Not recommended for use on carpet. Caution: If you dislodge or disconnect any of the cables, use this image as a reference for correct hookups. TI-Innovator™ Rover Setup Guide 225 Front Side of the Rover Ultrasonic Ranger - Measures distance to obstacles. Back Side of the Rover Guide Rails - Allows the Hub to slide easily into the Rover and connect to the Rover circuit board. Note: With the TI-Innovator™ Hub inserted, access a sensor and two ports. • Light Brightness Sensor - Reads as "BRIGHTNESS" in Hub command strings. • I2C port - Uses I2C cable to connect the Hub to the Rover circuit board. • DATA Mini-B port - Uses USB Unit-to-Unit (Mini-A to Mini-B) Cable to connect the Hub to a Graphing Calculator. 226 TI-Innovator™ Rover Setup Guide Right Side of the Rover Access on the Rover: • PWR port - Uses USB Standard A to Micro auxiliary power cable when charging the Rover's Rechargeable battery. • Front and Back Mounts - For adding structures to the Rover using interlocking plastic blocks. Note: With the Hub inserted, access three ports for controlling output modules. • OUT 1 and OUT 2 provide 3.3V power. • OUT 3 provides 5V power. TI-Innovator™ Rover Setup Guide 227 Left Side of the Rover Access on the Rover: • Front and Back Mounts - For adding structures to the Rover using interlocking plastic blocks. Note: With the Hub inserted, access three ports for collecting data or status from input modules. • IN 1 and IN 2 provide 3.3V power. • IN 3 provides 5V power. General Precautions TI-Innovator™ Rover • Do not expose the Rover to temperatures above 140˚F (60˚C). • Do not disassemble or mistreat the Rover. • Do not put anything heavier than 1 Kg or 2.2 lbs on the Rover platform. • Use only the USB cables provided with the TI-Innovator™ Hub. • Use only the Ribbon cables provided with the Rover. • Use only the TI provided wall charger included with the Hub. • The front-mounted Ultrasonic Ranger will detect objects within 4 meters of the Rover. For best results make sure the object's surface is bigger than a folder. If used to detect small objects, such as a cup, place the Rover within 1 meter of the object. • For best results, leave the Slide Case off of your graphing calculator. • For best performance, use Rover on the floor, not on tables. Damage may occur from Rover falling off a table. • For best performance, use Rover on a hard surface. Carpet may cause the Rover wheels to catch or drag. 228 TI-Innovator™ Rover Setup Guide • Do not turn the Holder pegs on the Calculator Platform without lifting them first. They could break. • When securing a marker in the Marker Holder avoid over-tightening the screw. • Do not use the marker as a lever to pull or push the Rover. • Do not unscrew the case enclosure on the bottom of the Rover. Encoders have sharp edges that should not be exposed. • Do not move Rover after executing a program. The internal gyroscope may unintentionally try to get the Rover back on track using the initial location. • When inserting the Breadboard Ribbon Cable into the Hub Breadboard Connector, it is critical that you insert the cable correctly. Make sure the red (dark) wire pin is inserted into the 5v hole on the Hub's Breadboard Connector. TI-Innovator™ Rover Setup Guide 229 Caution: If you dislodge or disconnect any of the cables, use this image as a reference for correct hookups. Reference to Bottom View 230 TI-Innovator™ Rover Setup Guide TI-Innovator™ Rover Commands version 1.2 Prerequisite: Use the Send "Connect RV" Command First The "CONNECT RV" command needs to be used first when using the Rover. The "CONNECT RV" command configures the TI-Innovator™ Hub software to work with the TI-Innovator™ Rover. It establishes the connections to the various devices on the Rover – two motors, two encoders, one gyroscope, one RGB LED and one color sensor. It also clears the various counters and sensor values. The optional ‘MOTORS’ parameter configures only the motors and allows direct control of motors without the additional peripherals. CONNECT RV - initializes the hardware connections. • Connects RV and inputs and outputs built into the RV. • Resets the Path and the Grid Origin. • Sets the units per meter to default value of 10. Default Grid unit = 10cm. Named RV Subsystems The RV object contains several subsystems that are directly addressed by name. These subsystems consist of the wheels, and sensors that let the Rover sense the world. The subsystems are listed by name in the following table. Subsystem Name RV RV.COLOR RV.COLORINPUT RV.RANGER RV.ENCODERGYRO RV.GYRO RV.MOTOR.L RV.MOTOR.R Description of Subsystem The RV object as a whole. The tri-color RGB LED on the top surface of the Rover can be controlled through user programs to display any color combination. The color sensor is on the bottom of the Rover and is used to detect the color of the surface. The front-facing ultrasonic distance sensor. Returns measurements in meters. ~10.00 meters means no obstacle was detected. The rotary encoders – one on each motor – measure the distance traveled by the Rover. The left and right encoder, coupled with the gyroscope and operating time information. The gyroscope is used to maintain the heading of Rover while it’s in motion. It can also be used to measure the change in angle during turns. Left wheel motor and control for direct control (advanced) use. Right wheel motor and control for direct control (advanced) use. TI-Innovator™ Rover Commands version 1.2 1 Subsystem Name RV.MOTORS Description of Subsystem Both the LEFT and RIGHT motor, managed as a single object for direct control (advanced) use. Rover Command Categories The Rover commands fall into two categories: 1. Queued execution: All of the Rover motion commands – FORWARD, BACKWARD, LEFT, RIGHT, ANGLE – are queued on the TI-Innovator Hub. They may execute at a future time. 2. Immediate execution: Other commands – like the ones to read the sensors or set the RGB LED on the Rover – are executed immediately. This means that certain statements in your program will execute before statements that appear earlier in the program especially if the latter commands are part of the queued family. For example, in the program below, the RGB LED will turn RED before the Rover stops moving: Send "SET RV.COLOR 255 0 255" – immediately executed Send "RV FORWARD 5" – queued command Send "RV LEFT 45" – queued command Send "RV RIGHT 90" – queued command Send "SET RV.COLOR 255 0 0" – immediately executed Example: To change color after a "FORWARD" movement, use "TIME" parameter with "WAIT". Send "RV FORWARD TIME 5" WAIT 5 Send "SET RV.COLOR 255 0 255" 2 TI-Innovator™ Rover Commands version 1.2 RV Commands, Code Samples, and Syntax The following examples show how various commands for the RV are used. Anywhere a SET command is used, the SET may be left off (optional use). Code Samples When you see "Code Sample" in a command table, this "Code Sample" may be copied and pasted as is to send to your graphing calculator to use in your calculations. Example: Code Sample: Send ("RV FORWARD 5") Send ("RV FORWARD SPEED 0.2 M/S TIME 10") TI-Innovator™ Rover Menu Rover (RV)... • • • • • • • • • TI-84 Plus CE TI-Nspire™ CX Drive RV… Read RV Sensors… RV Settings… Read RV Path… RV Color… RV Setup… RV Control… Send("CONNECT RV") Send("DISCONNECT RV") TI-Innovator™ Rover Commands version 1.2 3 • Drive RV… – Send( "RV – FORWARD – BACKWARD – LEFT – RIGHT – STOP – RESUME – STAY – TO XY (INACTIVE in v1.2 – – 4 TI-84 Plus CE TI-Nspire™ CX Release) TO POLAR (INACTIVE in v1.2 Release) TO ANGLE • Read RV Sensors… – Send"READ" – RV.RANGER – RV.COLORINPUT – RV.COLORINPUT.RED – RV.COLORINPUT.GREEN – RV.COLORINPUT.BLUE – RV.COLORINPUT.GRAY TI-84 Plus CE TI-Nspire™ CX • RV Settings... – RV Settings – SPEED – TIME – DISTANCE – UNIT/S – M/S – REV/S – UNITS – M – REVS – DEGREES – RADIANS – GRADS TI-84 Plus CE TI-Nspire™ CX TI-Innovator™ Rover Commands version 1.2 – – – – – – – XYLINE LEFT RIGHT BRAKE COAST CW CCW • Read RV Path… – Send "READ – RV.WAYPOINT.XYTHDRN – RV.WAYPOINT.PREV – RV.WAYPOINT.CMDNUM – RV.PATHLIST.X – RV.PATHLIST.Y – RV.PATHLIST.TIME – RV.PATHLIST.HEADING – RV.PATHLIST.DISTANCE – RV.PATHLIST.REVS – RV.PATHLIST.CMDNUM – RV.WAYPOINT.X – RV.WAYPOINT.Y – RV.WAYPOINT.TIME – RV.WAYPOINT.HEADING – RV.WAYPOINT.DISTANCE – RV.WAYPOINT.REVS TI-84 Plus CE TI-Nspire™ CX • RV Color… – Send "SET – RV.COLOR – RV.COLOR.RED – RV.COLOR.GREEN – RV.COLOR.BLUE TI-84 Plus CE TI-Nspire™ CX • RV Setup… – Send "SET – RV.POSITION TI-84 Plus CE TI-Nspire™ CX TI-Innovator™ Rover Commands version 1.2 5 – – – – – • RV Control… – Send " – SET RV.MOTORS – SET RV.MOTOR.L – SET RV.MOTOR.R – SET RV.ENCODERSGYRO – – 6 RV.GYRO RV.GRID.ORIGIN RV.GRID.M/UNIT RV.PATH CLEAR RV MARK TI-84 Plus CE TI-Nspire™ CX 0 READ RV.ENCODERSGYRO READ RV.GYRO • Send "CONNECT RV" – Send "CONNECT RV" – CONNECT RV TI-84 Plus CE TI-Nspire™ CX • Send "DISCONNECT RV" – Send "DISCONNECT RV" – DISCONNECT RV TI-84 Plus CE TI-Nspire™ CX TI-Innovator™ Rover Commands version 1.2 Drive RV... RV Drive Command Families • Base Drive Commands (in the spirit of Turtle Graphics) - • FORWARD, BACKWARD, RIGHT, LEFT, STOP, STAY Math Coordinate Drive Commands - Turn to Angle Note: Drive commands have options for Speed, Time and Distance as appropriate • See RV Settings for Machine-Level Control Commands • Set Left and Right Motor values for direction (CW/CCW) and level (0-255,Coast) Read accumulated values for wheel encoder edges and gyro heading change. Drive RV… – Send("RV – FORWARD – BACKWARD – LEFT – RIGHT – STOP – RESUME – STAY – TO XY (INACTIVE in v1.2 – – TI-84 PlusCE TI-Nspire™ CX Release) TO POLAR (INACTIVE in v1.2 Release) TO ANGLE TI-Innovator™ Rover Commands version 1.2 7 RV FORWARD Command: RV FORWARD Command Syntax: RV FORWARD [[SPEED s] [DISTANCE d] [TIME t]] Code Samples: Send ("RV FORWARD 0.5 M") Send ("RV FORWARD SPEED 0.22 M/S TIME 10") [SET] RV FORWARD [SET] RV FORWARD [DISTANCE] d [M|UNIT|REV] [SET] RV FORWARD [DISTANCE] d [M|UNIT|REV] SPEED s.ss [M/S|[UNIT/S]|REV/S] [SET] RV FORWARD [DISTANCE] d [M|UNIT|REV] TIME t [SET] RV FORWARD SPEED s [M/S|UNIT/S|REV/S] [TIME t] [SET] RV FORWARD TIME t [SPEED s.ss [M/S|[UNIT/S]|REV/S]] Range: N/A Describe: RV moves forward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. 8 Result: Action to make the RV move in a forward direction Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Rover Commands version 1.2 RV BACKWARD Command: RV BACKWARD Command Syntax: RV BACKWARD Code Sample: Send("RV BACKWARD 0.5 M") Send("RV BACKWARD SPEED 0.22 M/S TIME 10") [SET] RV BACKWARD [SET] RV BACKWARD [DISTANCE] d [M|UNIT|REV] [SET] RV BACKWARD [DISTANCE] d [M|UNIT|REV] SPEED s.ss [M/S|[UNIT/S]|REV/S] [SET] RV BACKWARD [DISTANCE] d [M|UNIT|REV] TIME t [SET] RV BACKWARD SPEED s.ss [M/S|UNIT/S|REV/S] [TIME t] [SET] RV BACKWARD TIME t [SPEED s.ss [M/S|UNIT/S|REV/S]] Range: N/A Describe: RV moves backward a given distance (default 0.75 m). Default distance if specified is in UNIT (grid units). Optional M=meters, UNIT=grid-unit, REV=wheel-revolution. Default speed is 0.20 m/sec, max is 0.23 m/sec, min is 0.14 m/sec. Speed may be given and specified in meters/second, unit/second, revolutions/second. Result: Action to make the RV move in a backward direction. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Rover Commands version 1.2 9 RV LEFT Command: RV LEFT Command Syntax: RV LEFT Code Sample: Send "RV LEFT" [SET] RV LEFT [ddd [DEGREES]] [SET] RV LEFT [rrr RADIANS] [SET] RV LEFT [ggg GRADIANS] Range: N/A Describe: Default turn is 90 degrees unless DEGREES, RADIANS, or GRADIANS keyword is present, and then the value is converted internally to degrees format from the specified units. Value given is ranged to a value between 0.0 and 360.0 degrees. The turn will be executed as a SPIN motion. Result: Turn Rover to the LEFT. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV RIGHT Command: RV RIGHT Command Syntax: RV RIGHT Code Sample: Send "RV RIGHT" [SET] RV RIGHT [ddd [DEGREES]] [SET] RV RIGHT [rrr RADIANS] [SET] RV RIGHT [ggg GRADIANS] Range: N/A Describe: Default turn is 90 degrees unless DEGREES, RADIANS, or GRADIANS keyword is present, and then the value is converted internally to degrees format from the specified units. Value given is ranged to a value between 0.0 and 360.0 degrees. The turn will be executed as a SPIN motion. Result: Turn Rover to the RIGHT. Type or Control 10 TI-Innovator™ Rover Commands version 1.2 Command: RV RIGHT Addressable Component: Note: This Rover control command is sent and executed in a queue. RV STOP Command: RV STOP Command Syntax: RV STOP Code Sample: Send "RV STOP" [SET] RV STOP [SET] RV STOP CLEAR Range: N/A Describe: The RV will stop any current movement immediately. That movement can be resumed from where it left off with a RESUME operation. Any movement commands will cause the queue to flush immediately, and begin the just-posted new movement operation Result: Stop processing Rover commands from the command queue, and leave pending operations in the queue. (immediate action). Queue can be resumed by RESUME.The RV will stop any current movement immediately. That movement can be resumed from where it left off with a RESUME operation. Any movement commands will cause the queue to flush immediately, and begin the just-posted new movement operation. Stop processing Rover commands from the command queue, and flush any pending operations left in the queue. (immediate action). Type or Addressable Component: Control Note: This Rover control command is executed immediately. RV RESUME Command: RV RESUME Command Syntax: RV RESUME TI-Innovator™ Rover Commands version 1.2 11 Command: RV RESUME Code Sample: Send "RV RESUME" [SET] RV RESUME Range: N/A Describe: Enable processing of Rover commands from the command queue. (immediate action), or resume (see RV STAY) operation. Result: Resume operation. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV STAY Command: RV STAY Command Syntax: RV STAY Code Sample: Send "RV STAY" [SET] RV STAY [[TIME] s.ss] Range: N/A Describe: Tells RV to "stay" in place for an optionally specified amount of time in seconds. Default is 30.0 seconds. Result: RV stays in position. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV TO XY (INACTIVE in v1.2 Release) RV TO POLAR (INACTIVE in v1.2 Release) 12 TI-Innovator™ Rover Commands version 1.2 RV TO ANGLE Command: RV TO ANGLE Command Syntax: RV TO ANGLE Code Sample: Send "RV TO ANGLE" [SET] RV TO ANGLE rr.rr [[DEGREES]|RADIANS|GRADIANS] Range: N/A Describe: Result: Spins the RV to the specified angle from current heading. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Rover Commands version 1.2 13 READ RV Sensors... SEND("Read Sensor Commands • Reading of low level sensors for learning foundations of robotics. • Read RV Sensors… – Send("READ – RV.RANGER – RV.COLORINPUT – RV.COLORINPUT.RED – RV.COLORINPUT.GREEN – RV.COLORINPUT.BLUE – RV.COLORINPUT.GRAY • RV.RANGER: Returns value in Meters. RV.COLORINPUT: Reads color sensor that is built into the RV. • RV.RANGER Command: RV.RANGER Command Syntax: RV.RANGER Code Sample: Send("READ RV.RANGER") Get(R) 14 Connects the Rover Vehicle to the TIInnovator™ Hub. This establishes connections with the motor driver, color sensor, gyroscope, ultrasonic ranger, and proximity sensors. CONNECT RV Returns the current distance from the front of the RV to an obstacle. If there is no obstacle detected, a range of 10.00 meters is reported READ RV.RANGER Get(R) TI-Innovator™ Rover Commands version 1.2 Command: RV.RANGER Range: N/A Describe: The front-facing ultrasonic distance sensor. Returns measurements in meters. ~10.00 meters means no obstacle was detected. Result: Returns value in Meters. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. RV.COLORINPUT Command: RV.COLORINPUT Command Syntax: RV.COLORINPUT Code Sample: Send("READ RV.COLORINPUT") Get(C) Range: 1 thru 9 Describe: Bottom-mounted color sensor detects the color of the surface. Can also detect gray-level scale of black (0) to white (255). Result: Returns current color sensor information. The return value is in the 1 – 9 range which maps to the colors below: Color Red Green Blue Cyan Magenta Yellow Black White Gray Type or Addressable Component: Return value 1 2 3 4 5 6 7 8 9 Sensor Note: This Rover sensor command is executed immediately. TI-Innovator™ Rover Commands version 1.2 15 RV.COLORINPUT.RED Command: RV.COLORINPUT.RED Command Syntax: RV.COLORINPUT.RED Code Sample: Send("READ RV.COLORINPUT.RED") Get(R) Range: 0 - 255 Describe: Detect intensity of individual red components of surface. The results are in 0-255 range. Result: Returns current color sensor "red value". Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. RV.COLORINPUT.GREEN Command: RV.COLORINPUT.GREEN Command Syntax: RV.COLORINPUT.GREEN Code Sample: Send("READ RV.COLORINPUT.GREEN") Get(G) Range: 0 - 255 Describe: Detect intensity of individual green components of surface. The results are in 0-255 range. Result: Returns current color sensor "green" value. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. 16 TI-Innovator™ Rover Commands version 1.2 RV.COLORINPUT.BLUE Command: RV.COLORINPUT.BLUE Command Syntax: RV.COLORINPUT.BLUE Code Sample: Send("READ RV.COLORINPUT.BLUE") Get(B) Range: 0 - 255 Describe: Detect intensity of individual blue components of surface. The results are in 0-255 range. Result: Returns current color sensor "blue" value. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. RV.COLORINPUT.GRAY Command: RV.COLORINPUT.GRAY Command Syntax: RV.COLORINPUT.GRAY Code Sample: Send("READ RV.COLORINPUT.GRAY") Get(G) Range: 0 - 255 Describe: Detect grayness of surface. The result will be in 0-255 range. Result: Returns an interpolated "grayscale" value based on 0.3*red + 0.59*green + 0.11*blue 0-black, 255 - white. Type or Addressable Component: Sensor Note: This Rover sensor command is executed immediately. TI-Innovator™ Rover Commands version 1.2 17 RV Settings... RV Settings Commands Settings menu for Rover contains other commands that support RV commands such as FORWARD or BACKWARD. • 18 RV Settings... – RV Settings – SPEED – TIME – DISTANCE – UNIT/S – M/S – REV/S – UNITS – M – REVS – DEGREES – RADIANS – GRADS – XYLINE – LEFT – RIGHT – BRAKE – COAST – CW – CCW TI-Innovator™ Rover Commands version 1.2 Read RV Path… Reading WAYPOINT and PATH Tracking the RV’s Path In order to support analysis of the Rover during and after a run, the sketch will automatically measure the following information for each Drive command: • X Coordinate on virtual grid • Y Coordinate on virtual grid • Time in seconds that the current command has been executing. • Distance in coordinate units for the path segment. • Heading in degrees (absolute terms measured Counter Clockwise with the X-axis as 0 degrees. • Revolutions by the wheel in executing the current command • Command number, tracks the number of commands executed, begins with 0. The Path values will be stored in lists, starting with the segments associated with the earliest commands and going to the segments associated with the latest commands. The drive command in progress, the WAYPOINT, will repeatedly update the last element in the Path lists as the Rover progresses toward the last waypoint. When a drive command is completed a new waypoint is initiated and the dimension of the Path lists are incremented. Note: This implies that when all the drive commands in the queue are completed that another waypoint for the stopped state is automatically started. This is similar to the initial position where the RV is stationary and counting time. Max number of waypoints: 80 TI-Innovator™ Rover Commands version 1.2 19 RV Position and Path • Ability to read X,Y coordinate, Heading, Time and Distance for each drive command in execution. • Will store path history in lists for plotting and analysis Note: Coordinate grid scale can be set by the user, default is 10cm per unit. The user will have options to set the origin of the grid. • 20 Read RV Path… – Send("READ – RV.WAYPOINT.XYTHDRN – RV.WAYPOINT.PREV – RV.WAYPOINT.CMDNUM – RV.PATHLIST.X – RV.PATHLIST.Y – RV.PATHLIST.TIME – RV.PATHLIST.HEADING – RV.PATHLIST.DISTANCE – RV.PATHLIST.REVS – RV.PATHLIST.CMDNUM – RV.WAYPOINT.X – RV.WAYPOINT.Y – RV.WAYPOINT.TIME – RV.WAYPOINT.HEADING – RV.WAYPOINT.DISTANCE – RV.WAYPOINT.REVS TI-Innovator™ Rover Commands version 1.2 TI-84 PlusCE TI-Nspire™ CX RV.WAYPOINT.XYTHDRN Command: RV.WAYPOINT.XYTHDRN Command Syntax: RV.WAYPOINT.XYTHDRN Code Sample: Send("READ RV.WAYPOINT.XYTHDRN") Example: Getting the distance traveled toward the current way-point from the last way-point Code Sample: Send("READ RV.WAYPOINT.XYTHDRN") Get(L ) 1 (L )(5)->D 1 Range: N/A Describe: READ RV.WAYPOINT.XYTHDRN - read the x-coord, y-coord, time, heading, distance traveled, number of wheel revolutions, command number of the current waypoint. Returns a list with all these values as elements. Result: Return list of current way-point X, Y coordinates, Time, Heading, Distance, Revolutions, and command number. Type or Addressable Component: Returns Data RV.WAYPOINT.PREV Command: RV.WAYPOINT.PREV Command Syntax: RV.WAYPOINT.PREV Code Sample: Send("READ RV.WAYPOINT.PREV") Example: Getting the distance traveled during the previous way-point. Code Sample: Send("READ RV.WAYPOINT.PREV") Get(L ) 1 (L )(5)->D 1 TI-Innovator™ Rover Commands version 1.2 21 Command: RV.WAYPOINT.PREV Range: N/A Describe: READ RV.WAYPOINT.PREV - read the x-coord, y-coord, time, heading, distance traveled, number of wheel revolutions, command number of the previous waypoint. Returns a list with all these values as elements. Result: Return list of the previous way-point X, Y coordinates, time, heading, distance, revolutions, and command number. Type or Addressable Component: Returns Data RV.WAYPOINT.CMDNUM Command: RV.WAYPOINT.CMDNUM Command Syntax: RV.WAYPOINT.CMDNUM Code Sample: Send("READ RV.WAYPOINT.CMDNUM") Example: Program to determine if a drive command has completed without referring to a specific command number. Note: the Wait is intended to increase the probability of catching a difference in the Command Number. Code Sample: Send("RV FORWARD 10") Send("READ RV.WAYPOINT.CMDNUM") Get(M) M->N While M=N Send("READ RV.WAYPOINT.CMDNUM") Get(N) End Disp "Drive Command is completed" Range: N/A Describe: READ RV.WAYPOINT.CMDNUM - returns the last command number of 22 TI-Innovator™ Rover Commands version 1.2 Command: RV.WAYPOINT.CMDNUM the current waypoint. Result: Returns a value of 0 if the RV is currently "working" on a command and is either in motion, or running a STAY operation. This command will return a value of 1 when ALL queued operations are completed, nothing is remaining in the command queue, and the current operation has completed (and immediately after CONNECT RV). Type or Addressable Component: Returns Data RV.PATHLIST.X Command: RV.PATHLIST.X Command Syntax: RV.PATHLIST.X Code Samples: Send("READ RV.PATHLIST.X") Example: Program to plot the RV path on the graph screen Code Samples: Plot1(xyLine, L , L ,▫,BLUE) 1 2 Send("READ RV.PATHLIST.X") Get(L1) Send("READ RV.PATHLIST.Y") Get(L2) DispGraph Range: N/A Describe: READ RV.PATHLIST.X - returns a list of X values from the beginning to and including the current Waypoint X value. Result: Return list of X coordinates traversed since last RV.PATH CLEAR or initial CONNECT RV. Type or Addressable Component: Returns Data TI-Innovator™ Rover Commands version 1.2 23 RV.PATHLIST.Y Command: RV.PATHLIST.Y Command Syntax: RV.PATHLIST.Y Code Sample: Send("READ RV.PATHLIST.Y") Example: Program to plot the RV path on the graph screen Code Sample: Plot1(xyLine, L , L ,▫,BLUE) 1 2 Send("READ RV.PATHLIST.Y") Get(L1) Send("READ RV.PATHLIST.X") Get(L2) DispGraph Range: N/A Describe: READ RV.PATHLIST.Y - returns a list of Y values from the beginning to and including the current Waypoint Y value. Result: Return list of Y coordinates traversed since last RV.PATH CLEAR or initial CONNECT RV. Type or Addressable Component: Returns Data RV.PATHLIST.TIME Command: RV.PATHLIST.TIME Command Syntax: RV.PATHLIST.TIME Code Sample: Send "READ RV.PATHLIST.TIME" Range: N/A Describe: READ RV.PATHLIST.TIME - returns a list of the time in seconds from the beginning to and including the current Waypoint time value. 24 TI-Innovator™ Rover Commands version 1.2 Command: RV.PATHLIST.TIME Result: Return list of cumulative travel times for each successive way-point. Type or Addressable Component: Returns Data RV.PATHLIST.HEADING Command: RV.PATHLIST.HEADING Command Syntax: RV.PATHLIST.HEADING Code Sample: Send "READ RV.PATHLIST.HEADING" Range: N/A Describe: READ RV.PATHLIST.HEADING - returns a list of the headings from the beginning to and including the current Waypoint heading value. Result: Return list of cumulative angular headings taken. Type or Addressable Component: Returns Data RV.PATHLIST.DISTANCE Command: RV.PATHLIST.DISTANCE Command Syntax: RV.PATHLIST.DISTANCE Example: Getting the cumulative distance traveled since the beginning of a journey by the RV Code Sample: Send "READ RV.PATHLIST.DISTANCE" Get(L ) 1 sum(L ) 1 Range: N/A Describe: READ RV.PATHLIST.DISTANCE - returns a list of the distances traveled from the beginning to and including the current Waypoint distance value. TI-Innovator™ Rover Commands version 1.2 25 Command: RV.PATHLIST.DISTANCE Result: Return list of cumulative distances traveled. Type or Addressable Component: Returns Data RV.PATHLIST.REVS Command: RV.PATHLIST.REVS Command Syntax: RV.PATHLIST.REVS Code Sample: Send "READ RV.PATHLIST.REVS" Range: N/A Describe: READ RV.PATHLIST.REVS - returns a list of the number of revolutions traveled from the beginning to and including the current Waypoint revolutions value. Result: Return list of wheel revolutions traveled. Type or Addressable Component: Returns Data RV.PATHLIST.CMDNUM Command: RV.PATHLIST.CMDNUM Command Syntax: RV.PATHLIST.CMDNUM Code Sample: Send "READ RV.PATHLIST.CMDNUM" Range: N/A Describe: READ RV.PATHLIST.CMDNUM - returns a list of command numbers for the path 26 TI-Innovator™ Rover Commands version 1.2 Command: RV.PATHLIST.CMDNUM Result: Return list of commands used to travel to the current way-point entry. 0 - Start of Way-points (if first action is a STAY, then no START is given, but a STAY will be shown instead.) 1 - Travel forward 2 - Travel backward 3 - Left spin motion 4 - Right spin motion 5 - Left turn motion 6 - Right turn motion 7 - Stay (no motion) the time the RV stays at the current position is given in the TIME list. 8 - RV is currently in motion on this way-point traversal. Type or Addressable Component: Returns Data RV.WAYPOINT.X Command: RV.WAYPOINT.X Command Syntax: RV.WAYPOINT.X Code Samples: Send("READ RV.WAYPOINT.X") Range: N/A Describe: READ RV.WAYPOINT.X - returns x coordinate of current waypoint. Result: Return current way-point X coordinate. Type or Addressable Component: Returns Data RV.WAYPOINT.Y Command: RV.WAYPOINT.Y Command Syntax: RV.WAYPOINT.Y TI-Innovator™ Rover Commands version 1.2 27 Command: RV.WAYPOINT.Y Code Samples: Send("READ RV.WAYPOINT.Y") Range: N/A Describe: READ RV.WAYPOINT.Y - returns x coordinate of current waypoint. Result: Return current way-point Y coordinate. Type or Addressable Component: Returns Data RV.WAYPOINT.TIME Command: RV.WAYPOINT.TIME Command Syntax: RV.WAYPOINT.TIME Code Sample: Send("READ RV.WAYPOINT.TIME") Range: N/A Describe: READ RV.WAYPOINT.TIME - returns time spent traveling from previous to current waypoint Result: Return total cumulative way-point travel time value in seconds. Type or Addressable Component: Returns Data RV.WAYPOINT.HEADING Command: RV.WAYPOINT.HEADING Command Syntax: RV.WAYPOINT.HEADING Code Sample: Send("READ RV.WAYPOINT.HEADING") 28 TI-Innovator™ Rover Commands version 1.2 Command: RV.WAYPOINT.HEADING Range: N/A Describe: READ RV.WAYPOINT.HEADING - returns absolute heading of current waypoint Result: Return current absolute heading in degrees. ( +h = counter-clockwise, -h = clockwise.) Type or Addressable Component: Returns Data RV.WAYPOINT.DISTANCE Command: RV.WAYPOINT.DISTANCE Command Syntax: RV.WAYPOINT.DISTANCE Code Sample: Send("READ RV.WAYPOINT.DISTANCE") Range: N/A Describe: READ RV.WAYPOINT.DISTANCE - returns distance traveled between previous and current waypoint Result: Return cumulative total distance traveled in meters. Type or Addressable Component: Returns Data RV.WAYPOINT.REVS Command: RV.WAYPOINT.REVS Command Syntax: RV.WAYPOINT.REVS Code Sample: Send("READ RV.WAYPOINT.REVS") Range: N/A TI-Innovator™ Rover Commands version 1.2 29 Command: RV.WAYPOINT.REVS Describe: READ RV.WAYPOINT.REVS - returns number of revolutions needed to travel between previous and current waypoint Result: Return total revolutions of the wheels performed to travel the cumulative distance to the current way-point. Type or Addressable Component: Returns Data 30 TI-Innovator™ Rover Commands version 1.2 RV Color… Send("SET Commands RGB LED on Rover - This supports the same commands and parameters as the RGB LED on the TI-Innovator™ Hub. • RV Color… – Send("SET – RV.COLOR – RV.COLOR.RED – RV.COLOR.GREEN – RV.COLOR.BLUE RV.COLOR Command: RV.COLOR Command Syntax: RV.COLOR Code Sample: Send "SET RV.COLOR [SET] RV.COLOR rr gg bb [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Set the RGB color to be displayed on the Rover's RGB LED. Same syntax as for all RGB LED operations with COLOR, etc. Result: Return the current RGB color, as a three-element list, that is being displayed on the Rover's RGB LED Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV.COLOR.RED Command: RV.COLOR.RED Command Syntax: RV.COLOR.RED Code Sample: Send "SET RV.COLOR.RED TI-Innovator™ Rover Commands version 1.2 31 Command: RV.COLOR.RED [SET] RV.COLOR.RED rr [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Result: Set the RED color to be displayed on the Rover's RGB LED. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV.COLOR.GREEN Command: RV.COLOR.GREEN Command Syntax: RV.COLOR.GREEN Code Sample: Send "SET RV.COLOR.GREEN [SET] RV.COLOR.GREEN gg [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Result: Set the GREEN color to be displayed on the Rover's RGB LED. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. RV.COLOR.BLUE Command: RV.COLOR.BLUE Command Syntax: RV.COLOR.BLUE Code Sample: Send "SET RV.COLOR.BLUE 32 TI-Innovator™ Rover Commands version 1.2 Command: RV.COLOR.BLUE [SET] RV.COLOR.BLUE bb [[BLINK] b [[TIME] s.ss]] Range: N/A Describe: Result: Set the BLUE color to be displayed on the Rover's RGB LED. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. TI-Innovator™ Rover Commands version 1.2 33 RV Setup… Send("SET Commands • RV Setup… – Send("SET – RV.POSITION – RV.GYRO – RV.GRID.ORIGIN – RV.GRID.M/UNIT – RV.PATH CLEAR – RV MARK RV.POSITION Command: RV.POSITION Command Syntax: RV.POSITION Code Sample: Send "SET RV.POSITION" [SET] RV.POSITION xxx yyy [hhh [[DEGREES]|RADIANS|GRADIANS]] Range: N/A Describe: Sets the coordinate position and optionally the heading of the Rover on the virtual grid. Result: Rover configuration is updated. Type or Addressable Component: Setting RV.GYRO Command: RV.GYRO Command Syntax: RV.GYRO Code Sample: Send "SET RV.GYRO" 34 TI-Innovator™ Rover Commands version 1.2 Command: RV.GYRO Range: N/A Describe: Sets the on-board Gyroscope. Result: Type or Addressable Component: Control (for Gyroscope) RV.GRID.ORIGIN Command: RV.GRID.ORIGIN Command Syntax: RV.GRID.ORIGIN Code Sample: Send "SET RV.GRID.ORIGIN" [SET} RV.GRID.ORIGIN Range: N/A Describe: Sets RV as being at current grid origin point of (0,0). The "heading" is set to 0.0 resulting in the current position of the RV now set to pointing down a virtual x-axis toward positive x values. Result: Type or Addressable Component: Setting RV.GRID.M/UNIT Command: RV.GRID.M/UNIT Command Syntax: RV.GRID.M/UNIT Code Sample: Send "SET RV.GRID.M/UNIT" [SET] RV.GRID.M/UNIT nnn TI-Innovator™ Rover Commands version 1.2 35 Command: RV.GRID.M/UNIT Range: N/A Describe: Set the size of a "grid unit" on the virtual grid. Default is 10 units per meter (100 mm / 10 cm per unit grid). A value of 5 means 5 units per meter or 200 mm / 20 cm per unit grid). A value of 20 means 20 units per meter, or 50 mm / 5 cm per unit grid. Result: Type or Addressable Component: Setting RV.PATH CLEAR Command: RV.PATH CLEAR Command Syntax: RV.PATH CLEAR Code Sample: Send "SET RV.PATH CLEAR" [SET] RV.PATH CLEAR Range: N/A Describe: Clears any pre-existing path / waypoint information. Recommended before doing a sequence of movement operations where waypoint / pathlist information is desired. Result: Type or Addressable Component: Setting RV MARK Command: RV MARK Command Syntax: RV MARK Code Sample: Send "SET RV MARK" [SET] RV MARK [[TIME] s.ss] 36 TI-Innovator™ Rover Commands version 1.2 Command: RV MARK Range: N/A Describe: Enable RV to make a "mark" with a pen at the specified time interval (default is 1 second if not specified). A time value of 0.0 turns OFF marking. Marking ONLY happens if the Rover is moving in a forward direction. Result: Type or Addressable Component: Setting (for Rover) TI-Innovator™ Rover Commands version 1.2 37 RV Control… SEND(" Commands Wheel commands and other commands relevant for learning foundations of the Rover vehicle. • RV Control … – Send(" – SET RV.MOTORS – SET RV.MOTOR.L – SET RV.MOTOR.R – SET RV.ENCODERSGYRO – – 0 READ RV.ENCODERSGYRO READ RV.GYRO SET RV.MOTORS Command: SET RV.MOTORS Command Syntax: SET RV.MOTORS Code Sample: Send "SET RV.MOTORS" [SET] RV.MOTORS [LEFT][CW|CCW] [RIGHT][CW|CCW] [DISTANCE ddd [M|[UNITS]|REV|FT]] | [TIME s.ss] Range: N/A Describe: Set left or right or both motor PWM values. Negative values imply CCW and Positive values imply CW. Left CW=backward motion. Left CCW=forward motion. Right CW=forward motion, Right CCW=backward motion. PWM values may be numeric from -255 to +255, or keywords "COAST" or "BRAKE". Value of 0 is stop (coast). Use of the DISTANCE option is only available if the RV is connected with all sensors. CONNECT RV MOTORS means no sensors are available to measure distance, so the DISTANCE option is an error in this instance. Result: Both the LEFT and RIGHT motor, managed as a single object for direct 38 TI-Innovator™ Rover Commands version 1.2 Command: SET RV.MOTORS control (advanced) use. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. SET RV.MOTOR.L Command: SET RV.MOTOR.L Command Syntax: SET RV.MOTOR.L Code Sample: Send "SET RV.MOTOR.L" [SET] RV.MOTOR.L [CW|CCW] <+/-pwm value|BRAKE|COAST> [TIME s.ss] | [DISTANCE ddd [[UNITS] |M|REV|FT]] Range: N/A Describe: Set left motor direct PWM value. CCW = forward, CW = backward, pwm value negative = forward, positive = backward. TIME option available in all modes, DISTANCE option available only when RV is fully connected (not the RV MOTORS option). Result: Left wheel motor and control for direct control (advanced) use. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. SET RV.MOTOR.R Command: SET RV.MOTOR.R Command Syntax: SET RV.MOTOR.R Code Sample: Send "SET RV.MOTOR.R" [SET] RV.MOTOR.R [CW|CCW] <+/-pwm value|BRAKE|COAST> [TIME s.ss] | [DISTANCE ddd [[UNITS] |M|REV|FT]] TI-Innovator™ Rover Commands version 1.2 39 Command: SET RV.MOTOR.R Range: N/A Describe: Set right motor direct PWM value. CW = forward, CCW = backward, pwm value positive = forward, negative = backward. TIME option available in all modes, DISTANCE option available only when RV is fully connected (not the RV MOTORS option). Result: Right wheel motor and control for direct control (advanced) use. Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. SET RV.ENCODERSGYRO 0 Command: SET RV.ENCODERSGYRO 0 Command Syntax: SET RV.ENCODERSGYRO 0 Code Sample: Send "SET RV.ENCODERSGYRO 0" Range: N/A Describe: Reset the left and right encoder, coupled with the gyro and operating time information. Result: Type or Addressable Component: Control Note: This Rover control command is sent and executed in a queue. READ RV.ENCODERSGYRO Command: READ RV.ENCODERSGYRO Command Syntax: READ RV.ENCODERSGYRO Code Sample: Send "READ RV.ENCODERSGYRO" Range: N/A 40 TI-Innovator™ Rover Commands version 1.2 Command: READ RV.ENCODERSGYRO Describe: The left and right encoder, coupled with the gyro and operating time information. Result: List of values of current left and right encoder, coupled with gyro and operating time information Type or Addressable Component: Control Note: This Rover READ command is executed immediately. READ RV.GYRO Command: READ RV.GYRO Command Syntax: READ RV.GYRO Code Sample: Send "READ RV.GYRO" READ RV.GYRO [[DEGREES]|RADIANS|GRADIANS] Range: N/A Describe: The gyroscope is used to maintain the heading of Rover while it’s in motion. It can also be used to measure the change in angle during turns. The gyroscope is ready to use after the CONNECT RV command is processed. The GYRO object shall be usable even when the RV is not in motion. Result: Returns current gyro sensor angular deviation from 0.0, reading partially drift-offset compensated. Type or Addressable Component: Control Note: This Rover READ command is executed immediately. TI-Innovator™ Rover Commands version 1.2 41 Send "CONNECT RV" SEND("CONNECT RV") Commands CONNECT RV - initializes the hardware connections. • • • Connects RV and inputs and outputs built into the RV. Resets the Path and the Grid Origin. Sets the units per meter to default value. • Send("CONNECT RV") CONNECT RV Command: CONNECT RV Command Syntax: CONNECT RV [MOTORS] Code Sample: Send "CONNECT RV" Send "CONNECT RV MOTORS" Range: N/A Describe: The "CONNECT RV" command configures the TI-Innovator™ Hub software to work with the TI-Innovator™ Rover. It establishes the connections to the various devices on the Rover – two motors, two encoders, one gyroscope, one RGB LED and one color sensor. It also clears the various counters and sensor values. The optional ‘MOTORS’ parameter configures only the motors and allows direct control of motors without the additional peripherals. Result: Connects the Rover Vehicle to the TI-Innovator™ Hub. This establishes connections with the motor driver, color sensor, gyroscope, ultrasonic ranger, and RGB LED. The Rover is now ready to be programmed Type or Addressable Component: All components of the Rover - two motors, two encoders, one gyroscope, one RGB LED and one color sensor. 42 TI-Innovator™ Rover Commands version 1.2 Send "DISCONNECT RV" SEND("DISCONNECT RV") Commands DISCONNECT RV - disconnects all the hardware peripherals from the Hub. Format: Send("DISCONNECT RV") • Send("DISCONNECT RV") DISCONNECT RV Command: DISCONNECT RV Command Syntax: DISCONNECT RV Code Sample: Send "DISCONNECT RV" DISCONNECT RV Range: N/A Describe: The "DISCONNECT RV" command removes the logical connections between the TI-Innovator™ Hub and the TI-Innovator™ Rover. It also clears the counters and sensor values. It allows the use of the breadboard port of the TI-Innovator™ Hub with other devices. Result: The TI-Innovator™ Hub is now logically disconnected from the TIInnovator™ Rover Type or Addressable Component: N/A TI-Innovator™ Rover Commands version 1.2 43 TI-Innovator™ Rover – Programmable Component Data Sheets The TI-Innovator™ Rover Programmable Component Data Sheets include the following; a product name or number, a brief description, a product image, specifications, how the component connects to the TI-Innovator™ Hub, and Rover commands with simple code samples. Device Device Category Rover (RV) Accessory Sensors Sensors Category Rotary Encoders Motion and Distance Sensor Gyroscope Motion and Distance Sensor Ultrasonic Ranger Motion and Distance Sensor Color Sensor Environmental Sensor On-Board Light Brightness Sensor (On Hub) Environmental Sensor Controllable Devices Controllable Devices Category Electric Motors Motors RGB (Red-Green-Blue) LED LEDs and Displays On-Board Speaker (on Hub) Sound Output 44 TI-Innovator™ Rover – Programmable Component Data Sheets TI-Innovator™ Rover Title TI-Innovator™ Rover Data Sheet TI Item Name TI-Innovator™ Rover Quantity 1 Included in TI-Innovator™ Rover Description TI-Innovator™ Rover is a two-wheeled programmable robotic vehicle which works with the TI-Innovator™ Hub with TI LaunchPad™ Board. Category Accessory Hub Connection See: Connecting TI-Innovator™ Rover Assembly Instructions See: Exploring the Assembled TI-Innovator™ Rover Precautions See: General Precautions Specifications See: TI-Innovator™ Rover Setup Requirements Rover Commands Sketch Object RV Command Syntax Code Sample: Desired Action Configure Hub for additional commands such as: RV Forward 2 RV Left Code Sample Send "CONNECT RV" TI-Innovator™ Rover – Programmable Component Data Sheets 45 TI-Innovator™ Rover On-Board Rotary Encoders Data Sheet Title TI-Innovator™ Rover Rotary Encoders TI Item Name Built into the TI-Innovator™ Rover Quantity 2 - 1 for each wheel Included in TI-Innovator™ Rover Description Calculates linear distance by detecting how many rotations the wheels make as the Rover moves. Assists in balancing and aligning the wheels. Category Motion and Distance Sensors Hub Connection on-board Rover Assembly Instructions Not Applicable Precautions Do not unscrew the case enclosure. Encoder has sharp edges that should not be exposed. Specifications Not Applicable 46 TI-Innovator™ Rover – Programmable Component Data Sheets TI-Innovator™ Rover On-Board Gyroscope Data Sheet Title TI-Innovator™ Rover Gyroscope TI Item Name Built into the TI-Innovator™ Rover Quantity 1 Included in TI-Innovator™ Rover Description Calculates angular displacement and heading as it maintains orientation. Category Motion and Distance Sensors Hub Connection on-board Rover Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable TI-Innovator™ Rover – Programmable Component Data Sheets 47 TI-Innovator™ Rover On-Board Ultrasonic Ranger Data Sheet Title Ultrasonic Ranger TI Item Name Built into the Rover Quantity 1 Included in TI-Innovator™ Rover Description Non-contact measurement module that reads distance from obstacle in meters. Category Motion and Distance Sensors Hub Connection On-board the Rover Assembly Instructions Not Applicable Precautions Specifications Measures distances up to 4 m Rover Commands Sketch Object RV.RANGER Command Syntax Send("READ RV.RANGER") Code Sample: 48 Desired Action Code Sample Connects the Rover to the TI-Innovator Hub. This establishes connections with the motor driver, color sensor, gyroscope, ultrasonic ranger, and proximity sensors. CONNECT RV Returns the current distance from the front READ RV.RANGER Get (R) TI-Innovator™ Rover – Programmable Component Data Sheets Rover Commands Desired Action Code Sample of the Rover to an obstacle. If there is no obstacle detected, a range of 10.00 meters is reported TI-Innovator™ Rover – Programmable Component Data Sheets 49 TI-Innovator™ Rover On-Board Color Sensor Data Sheet Title TI-Innovator™ Rover Color Sensor TI Item Name Built into the TI-Innovator™ Rover Quantity 1 Included in TI-Innovator™ Rover Description Bottom-mounted color sensor detects the color of the surface. Can also detect gray-level scale of black (0) to white (255). Measures surface color. Used to identify colors and execute Rover Hub commands based on color. Category Environmental Sensors Hub Connection on-board Rover Assembly Instructions Not Applicable Precautions Do not unplug the cable. If it becomes unattached see proper positioning as shown above. Specifications Not Applicable Rover Commands Sketch Object RV.COLORINPUT RV.COLORINPUT.RED RV.COLORINPUT.GREEN RV.COLORINPUT.BLUE RV.COLORINPUT.GRAY Command Syntax 50 TI-Innovator™ Rover – Programmable Component Data Sheets Rover Commands Code Sample: Desired Action Code Sample Send "READ RV.COLORINPUT.RED" Get (C) TI-Innovator™ Rover – Programmable Component Data Sheets 51 On-Board Light Brightness Sensor Data Sheet Title On-Board Light Brightness Sensor TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Built-in light brightness sensor located at the bottom of the Hub. The sensor detects light intensity. Category Environmental Sensors Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable HUB Commands Sketch Object BRIGHTNESS Command Syntax Send("READ BRIGHTNESS") Code Sample: 52 Desired Action Code Sample Read the built-in light brightness sensor Send("READ BRIGHTNESS") Get(B) TI-Innovator™ Rover – Programmable Component Data Sheets TI-Innovator™ Rover On-Board Electric Motors Data Sheet Title TI-Innovator™ Rover Motors TI Item Name Built into the TI-Innovator™ Rover Quantity 2 – 1 on each wheel with electric motor and rotary encoder to track rotations. Included in TI-Innovator™ Rover Description Motors that can be programmed to move the wheels independently and at variable speeds. Category Motors Hub Connection on-board Rover Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable Rover Commands Send "SET RV.MOTORS Sketch Object RV.MOTORS Command Syntax Code Sample: Desired Action Code Sample Direct control of Send "SET RV.MOTORS" TI-Innovator™ Rover – Programmable Component Data Sheets 53 Rover Commands Send "SET RV.MOTORS Desired Action Code Sample motors. [SET] RV.MOTORS [LEFT] [CW|CCW] [RIGHT][CW|CCW] [DISTANCE ddd [M|[UNITS]|REV|FT]] | [TIME s.ss] 54 TI-Innovator™ Rover – Programmable Component Data Sheets TI-Innovator™ Rover On-Board RGB (Red-Green-Blue) LED Data Sheet Title TI-Innovator™ Rover RGB (Red-Green-Blue) LED TI Item Name Built into the TI-Innovator™ Rover Quantity 1 Included in TI-Innovator™ Rover Description Light-emitting diode with independently adjustable red, green and blue elements. Can produce a wide variety of colors. Category LEDs and Displays Hub Connection on-board Rover Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable Rover Commands Sketch Object RV.COLOR Command Syntax Code Sample: Desired Action Code Sample Configure LED Note: RV.COLOR supports the same functions Send("SET RV.COLOR 255 0 255") TI-Innovator™ Rover – Programmable Component Data Sheets 55 Rover Commands Desired Action Code Sample as the Hub COLOR object 56 TI-Innovator™ Rover – Programmable Component Data Sheets On-Board Speaker Data Sheet Speaker (at back of Hub) is addressable as "SOUND" in Hub command strings. Title On-Board Speaker TI Item Name Built into the Hub Quantity 1 Included in TI-Innovator™ Hub Description Built-in speaker located at the back of the Hub. It converts electrical current into sound you can hear. Category Sound Output Hub Connection on-board Hub Assembly Instructions Not Applicable Precautions Not Applicable Specifications Not Applicable HUB Commands Sketch Object SOUND Command Syntax Send("SET SOUND …") Frequency in Hz or Note as C1, CS1, D2, ... [TIME duration in seconds] Code Sample: Desired Action Code Sample Play tone at 261.23 Hz Send("SET SOUND 261.23") Evaluate the expression 2^8 (= 256) and play that tone Send("SET SOUND eval (2^8)") TI-Innovator™ Rover – Programmable Component Data Sheets 57 HUB Commands 58 Desired Action Code Sample Evaluate the expression 2^8 ( = 256) and play that tone for .25 seconds Send("SET SOUND eval (2^8) TIME .25") Evaluate the expression 2^9 (= 512) and play that tone for 0.25 seconds (result of evaluating 1/4) Send("SET SOUND eval (2^9) TIME eval(1/4)") Turn speaker off Send("SET SOUND OFF") TI-Innovator™ Rover – Programmable Component Data Sheets I/O Modules Data Sheets The TI-Innovator™ I/O Module Data Sheets include the following; a product name and number, a brief description, a product image, specifications, how the component connects to the TI-Innovator™ Hub, and Hub commands with simple code samples. Topic Links • Analog Light Sensor Data Sheet • Vibration Motor Data Sheet • White LED Data Sheet • Servo Motor Data Sheet • Ultrasonic Ranger Data Sheet I/O Modules Data Sheets 59 Analog Light Sensor Data Sheet Title Analog Light Sensor TI Item Name STEMKT/AC/A Quantity 1 Included in TI-Innovator™ I/O Module Pack Description Sensor that detects the light intensity of the environment. Category Environmental Sensors Hub Connection 4-Pin Cable to any of these ports: IN 1, IN 2, IN 3 Assembly Instructions Not applicable Precautions Light sensor leads may break if bent repeatedly Specifications Maximum voltage: 150, Maximum power: 100, Environmental Temp: -30~+70, Spectrum Peak Value: 540 HUB Commands Sketch Object LIGHTLEVEL Command Syntax Send("READ LIGHTLEVEL n") Code Sample: 60 Desired Action Code Sample Configure the program to use LIGHTLEVEL on port IN 1 Send("CONNECT LIGHTLEVEL 1 TO IN 1") Read the light sensor Send("READ LIGHTLEVEL 1") Get(L) I/O Modules Data Sheets Vibration Motor Data Sheet Title Vibration Motor TI Item Name STEMKT/AC/B Quantity 1 Included in TI-Innovator™ I/O Module Pack Description Coin type motor that vibrates when the input logic is HIGH. Category Motors Hub Connection 4-Pin Cable to any of these ports: OUT 1, OUT 2, OUT 3 Assembly Instructions Not Applicable Precautions Use an Auxiliary Power Source Specifications Operate Voltage: 3.0V to 5.5V, Control Mode: Logic Level (When Logic HIGH, the motor is ON. When LOW, the motor is OFF.), Rated speed: 9000 rpm HUB Commands Sketch Object VIB.MOTOR Command Syntax Send("SET VIB.MOTOR 1 TO pwm") - pwm from 0 to 255 Code Sample: Desired Action Code Sample Configure the program to use ANALOG.OUT on port OUT 1 Send("CONNECT VIB.MOTOR 1 TO OUT 1") Turn OFF vibration motor Send("SET VIB.MOTOR 1 TO 0") Turn ON vibration motor at full power Send("SET VIB.MOTOR 1 TO 255") I/O Modules Data Sheets 61 HUB Commands 62 Desired Action Code Sample Turn ON vibration motor at half power Send("SET VIB.MOTOR 1 TO 128") I/O Modules Data Sheets White LED Data Sheet Title White LED TI Item Name STEMKT/AC/C Quantity 1 Included in TI-Innovator™ I/O Module Pack Description White LED module that bends to any position. Category LEDs and Displays Hub Connection 4-Pin Cable to any of these ports: OUT 1, OUT 2, OUT 3 Assembly Instructions Insert LED into socket - longer leg (lead) is positive (anode). If both leads are of equal length, the lead adjacent to the flat edge on LED casing is the negative (cathode) lead. Precautions Do not bend the leads repeatedly; this will weaken the wires and may cause them to break. Specifications Operating voltage: 3.3v/5v, Emitting Color: White HUB Commands Sketch Object LED Command Syntax Send("SET LED 1 TO ON/OFF [[BLINK|TOGGLE] frequency] [[TIME] seconds]") Code Sample: Desired Action Code Sample Configure the program to use LED on port OUT 1 Send("CONNECT LED 1 TO OUT 1") Turn LED ON Send("SET LED 1 ON") Turn LED OFF Send("SET LED 1 OFF") Turn external LED Send("SET LED 1 TO ON I/O Modules Data Sheets 63 HUB Commands 64 Desired Action Code Sample ON for 5 seconds TIME 5") Turn external LED ON and blink it at 2 Hz (2 times a second) for 5 seconds Send("SET LED 1 TO ON BLINK 2 TIME 5") I/O Modules Data Sheets Servo Motor Data Sheet There are two types of Servo motors, continuous and sweep. More about SERVO Motors Title Servo Motor TI Item Name STEMKT/AC/D Quantity 1 Included in TI-Innovator™ I/O Module Pack Description 360 degree, continuous rotation servo motor with gearing and feedback system; used in driving mechanism of robots. Category Motors Hub Connection 4-Pin Cable to only this port: OUT 3 Assembly Instructions Mount a gear to the top of the Servo Motor using one of the provided screws. Precautions Use an Auxiliary Power Source. Do not hold the Servo Motor’s shaft while it is rotating. Also, do not rotate the Servo Motor by hand. Specifications Operating Speed: 110RPM (4.8V), 130RPM (6V); Stall Torque: 1.3kg.cm/18.09oz.in (4.8V), 1.5kg.cm/20.86oz.in (6V); Operating Voltage: 4.8V~6V HUB Commands Sketch Object SERVO Command Syntax Send("SET SERVO n TO [CW/CCW] speed [[TIME] seconds] -speed from -100 to 100, CW/CCW (Clockwise/Counterclosewise) optional, if speed <0, CCW, else CW unless CW/CCW keyword is specified, TIME optional, in seconds, default=1 second (for continuous servo operation) (CW/CCW required if TIME/seconds NOT specified.) I/O Modules Data Sheets 65 HUB Commands Code Samples: Desired Action for the SERVO.CONTINOUS Code Sample Configure the program to use SERVO on port OUT 3 Send("CONNECT SERVO 1 TO OUT 3") Set SERVO to turn Counterclockwise (CCW) at full (100%) speed for 2 seconds Send("SET SERVO 1 CCW 100 2") Set SERVO to turn Clockwise (CW) at half (50%) speed for 1 second (default time if not specified) Send("SET SERVO 1 CW 50") Turn SERVO Off Send("SET SERVO 1 ZERO") or Send("SET SERVO 1 STOP") More about SERVO Motors There are two types of Servo motors, continuous and sweep. • The motor in the I/O pack is a continuous motor. This motor rotates either clockwise (positive direction) or counter clockwise (negative direction) for a specified amount of time. • Sweep servo motors turn only 90 degrees in each direction. It is necessary to connect servo motors to the OUT 3 port. This port provides the 5 volts needed for these motors. • You will also need to plug an external battery into the PWR micro USB port. • You will also give a number, in this case 1, as part of identifying to an external device plugged into a port. (Note: In some cases you may have multiple devices of the same type connected to the TI-Innovator (e.g. temperature probes)) Code Sample: 66 Send("CONNECT SERVO.CONTINUOUS 1 TO OUT 3 ") I/O Modules Data Sheets The first argument sets the speed and direction of the motor. You can use -100 to 100. Negative values are in the counter clockwise direction. Positive values are in the clockwise direction. Zero stops the motor. The second argument is the amount of time in seconds to run the motor in the specified direction and speed. If there is no argument for time, then the motor will turn for one second. The Wait command is used in the case to delay execution of commands on the calculator until the motor action is complete. This optional command is useful in delaying commands that might replace the current motor command before the desired end time. Code Sample: Send("SET SERVO.CONTINUOUS 1 ¬50 TIME 2") Wait 2 You also have the options of using explicit CW and CCW settings with values for speed of 0 to 100. Code Sample: Send("SET SERVO.CONTINUOUS 1 CW 100 TIME 3") Wait 3 This example prompts for the inputs to the SERVO.CONTINUOUS command. The example also uses a While loop with getKey as a way for the user to control when the command to stop the motor is executed. Code Sample: ClrHome Disp "S:SPEED AND DIRECTION" Disp "ENTER VALUES ¬100 TO 100 FOR S" Disp "T:TIME IN SECONDS" Prompt S,T Send("SET SERVO.CONTINUOUS 1 eval(S) TIME eval(T)") Disp "PRESS 1 TO STOP THE MOTOR AND END THE PROGRAM" 0→K While K≠92 getKey→K End Send("SET SERVO.CONTINUOUS 1 0”) I/O Modules Data Sheets 67 Ultrasonic Ranger Data Sheet Title Ultrasonic Ranger TI Item Name STEMKT/AC/E Quantity 1 Included in TI-Innovator™ Ultrasonic Ranger Module Description Non-contact measurement module that reads distance from sensor in meters. Category Motion and Distance Sensors Hub Connection 4-Pin Cable to any of these ports: IN 1, IN 2 Assembly Instructions Not Applicable Precautions Sold separately, not included in the I/O Modules Pack Specifications Operating voltage: 3.3~5V, Operating current: 15mA, Ultrasonic frequency: 42kHz, Measuring range: 3-400m, Resolution: 1m, Output: PWM HUB Commands Sketch Object RANGER Command Syntax Send("READ RANGER n") Get(R) Code Sample: 68 Desired Action Code Sample Configure the program to use RANGER on port IN 1 Send("CONNECT RANGER 1 TO IN 1") Read the Ultrasonic Ranger Send("READ RANGER 1") Get(R) I/O Modules Data Sheets TI-Innovator™ Breadboard Data Sheets The TI-Innovator™ Breadboard Data Sheets include the following; a product name and number, a brief description, a product image, specifications, how the component connects to the TI-Innovator™ Hub, and simple code samples. Topic Links • Breadboard Components and Usable Pins • Environmental Sensors • LEDs and Displays • Motors • Power and Signal Control • Passive Components TI-Innovator™ Breadboard Data Sheets 69 Breadboard Components and Usable Pins Here is a list of all the components in our breadboard pack and the usable pins for each component. Component Use with pins 1 Breadboard N/A 10 Male/Female Breadboard Jumper Cables N/A 40 Male/Male Breadboard Jumper Cables N/A 5 Green LED BB 1-10 10 Red LED BB 1-10 2 RGB (Red-Green-Blue) LED BB 8-10 10 Resistor 100 Ohm N/A 10 Resistor 1K Ohm N/A 10 Resistor 10K Ohm N/A 10 Resistor 100K Ohm N/A 10 Resistor 10M Ohm N/A 1 Diode BB 1-10 1 Thermistor BB 5,6,7 (analog input required) 1 SPDT Slide Switch BB 1-10 1 8 Position SIP DIP Switch BB 1-10 (digital input) 1 8 100 Ohm Resistor SIP N/A 1 Potentiometer with Knob BB 5,6,7 1 Capacitor 100µF N/A 1 Capacitor 10µF N/A 1 Capacitor 1µF N/A 1 7-Segment Display BB 1-10 1 Small DC Motor BB 1-10 (uses digital to generate software PWM) 2 TTL Power MOSFET BB 1-10 1 TI Analog Temperature Sensor BB 5,6,7 (analog input required) 1 Visible Light Sensor BB 5,6,7 (analog input required) 1 4-AA Battery Holder N/A 1 Infrared Receiver BB 1-10 (digital input) 1 Infrared Transmitter BB 1-10 (digital output) 70 TI-Innovator™ Breadboard Data Sheets Environmental Sensors Topic Links • Thermistor Data Sheet • TI Analog Temperature Sensor Data Sheet • Visible Light Sensor Data Sheet TI-Innovator™ Breadboard Data Sheets 71 Thermistor Data Sheet Title Thermistor TI Item Name STEMEE/AC/THERM/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Resistor whose resistance changes based on temperature. Used for measurement and control. Category Environmental Sensors Hub Connection breadboard circuit Assembly Instructions No polarity Precautions Not Applicable Specifications Resistance in Ohms @ 25°C: 10k, Resistance Tolerance: ±1%, B Value Tolerance: ±1%, Operating Temperature: 40°C ~ 125°C, Power – Max: 7.5mW HUB Commands Sketch Object THERMISTOR Command Syntax Send("READ THERMISTOR n") Code Sample: 72 Desired Action Code Sample Configure the program to use THERMISTOR on pin BB 1 Send("CONNECT THERMISTOR 1 TO BB 1") Read the thermistor Send("READ THERMISTOR 1") Get(T):Disp T TI-Innovator™ Breadboard Data Sheets TI Analog Temperature Sensor Data Sheet Title TI Analog Temperature Sensor TI Item Name STEMEE/AC/TEMPSN/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Sensor that reports a voltage proportional to the ambient temperature within a range of −55°C to 130°C. Category Environmental Sensors Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications Accuracy at +30°C ±2.5 °C (max)’ Accuracy at +130°C & −55°C ±3.5 to ±3.8 °C (max)’ Power Supply Voltage Range +2.4V to +5.5V’ Current Drain 10 μA (max), Nonlinearity ±0.4 % (typ), Output Impedance 160 Ω (max), Load Regulation0µA < IL< +16 µA See: Detailed Technical documentation. HUB Commands Sketch Object TEMPERATURE Command Syntax Send("READ TEMPERATURE n") Code Sample: Desired Action Code Sample Configure the program to use TEMPERATURE on pin BB 1 Send("CONNECT TEMPERATURE 1 TO BB 1") Read the temperature sensor Send("READ TEMPERATURE 1") Get (T):Disp T TI-Innovator™ Breadboard Data Sheets 73 Visible Light Sensor Data Sheet Title Visible Light Sensor TI Item Name STEMEE/AC/LHTSEN/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Sensor that reports the level of ambient light. Category Environmental Sensors Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications HUB Commands Sketch Object LIGHTLEVEL or ANALOG.IN Command Syntax Send("READ LIGHTLEVEL n") Code Sample: 74 Desired Action Code Sample Configure the program to use LIGHT LEVEL on pin BB 4 Send("CONNECT LIGHTLEVEL 1 TO BB 4") Read the light sensor Send("READ LIGHTLEVEL 1") Get(L):Disp L TI-Innovator™ Breadboard Data Sheets LEDs and Displays Topic Links • Green LED Data Sheet • RGB (Red-Green-Blue) LED Data Sheet • Red LED Data Sheet • Diode Data Sheet • 7-segment Display Data Sheet • Infrared Receiver Data Sheet • Infrared Transmitter Data Sheet TI-Innovator™ Breadboard Data Sheets 75 Green LED Data Sheet Title Green LED TI Item Name STEMEE/AC/LED/A Quantity 5 Included in TI-Innovator™ Breadboard Pack Description Light-emitting diode that emits green light when current passes through it. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Longer leg (lead) is positive (anode). If both leads are of equal length, the lead adjacent to the flat edge on LED casing is the negative (cathode) lead. Precautions Do not insert the leads of LEDs directly into the Hub’s Breadboard Connector. Assemble the components on the breadboard and use the provided jumper cables to connect the breadboard to the Hub. Specifications Voltage - Forward (Vf) (Typ): 2.1V, Current – Test: 10mA, Viewing Angle: 36°, Mounting Type: Through Hole. HUB Commands Sketch Object LED or DIGITAL.OUT Command Syntax Send("SET LED i [TO] 0-255 [[BLINK|TOGGLE] frequency] [[TIME] seconds]") Code Sample: Desired Action Code Sample Send("SET LED 1 TO ON") Send("SET LED 1 TO OFF") Send("SET LED 1 TO ON TIME 5") 76 TI-Innovator™ Breadboard Data Sheets HUB Commands Desired Action Code Sample Send("SET DIGITAL.OUT 1 TO ON") Send("SET DIGITAL.OUT 1 TO OFF") Send("SET DIGITAL.OUT 1 TO ON TIME 5") TI-Innovator™ Breadboard Data Sheets 77 RGB (Red-Green-Blue) LED Data Sheet Title RGB (Red-Green-Blue) LED TI Item Name STEMEE/AC/LED/B Quantity 2 Included in TI-Innovator™ Breadboard Pack Description Light-emitting diode with independently adjustable red, green and blue elements. Can produce a wide variety of colors.. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Do not insert the leads of LEDs directly into the Hub’s Breadboard Connector. Assemble the components on the breadboard and use the provided jumper cables to connect the breadboard to the Hub. Specifications Not Applicable HUB Commands Sketch Object RGB Command Syntax Send("SET RGB 1 TO r g b") - r = red value, g = green value, b = blue value Send("SET RGB 1 TO r g b [[BLINK|TOGGLE] frequency] [[TIME] seconds]") Code Sample: 78 Desired Action Code Sample Configure LED Send("SET RGB 1 ON ON OFF") Send("SET RG 1 255 128 0") Send("SET RGB 1 255 128 0 TIME 10") TI-Innovator™ Breadboard Data Sheets HUB Commands Desired Action Code Sample Send("SET RGB 1 255 128 0 BLINK 20 TIME 10") Send("SET RED 1 0") Send("SET GREEN 1 128 BLINK 2 TIME 10") TI-Innovator™ Breadboard Data Sheets 79 Red LED Data Sheet Title Red LED TI Item Name STEMEE/AC/LED/C Quantity 10 Included in TI-Innovator™ Breadboard Pack Description Light-emitting diode that emits red light when current passes through it. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Longer leg (lead) is positive (anode). If both leads are of equal length, the lead adjacent to the flat edge on LED casing is the negative (cathode) lead. Precautions Do not insert the leads of LEDs directly into the Hub’s Breadboard Connector. Assemble the components on the breadboard and use the provided jumper cables to connect the breadboard to the Hub. Specifications Voltage - Forward (Vf) (Typ): 2V, Current – Test: 10mA, Viewing Angle: 60°, Mounting Type: Through Hole HUB Commands Sketch Object LED or DIGITAL.OUT Command Syntax Send("SET LED n …") ON/OFF [BLINK frequency] [TIME duration] Code Sample: 80 Desired Action Code Sample Configure LED Send("SET LED 1 TO ON") Send("SET LED 1 TO OFF") Send("SET LED 1 TO BLINK 2 TIME 5") Send("SET LED 1 TO ON TI-Innovator™ Breadboard Data Sheets HUB Commands Desired Action Code Sample TIME 5") Send("SET DIGITAL.OUT 1 TO ON") Send("SET DIGITAL.OUT 1 TO OFF") Send("SET DIGITAL.OUT 1 TO BLINK 2 TIME 5") Send("SET DIGITAL.OUT 1 TO ON TIME 5") TI-Innovator™ Breadboard Data Sheets 81 Diode Data Sheet Title Diode TI Item Name STEMEE/AC/DIO/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Component that allows an electric current to pass in one direction, while blocking current in the opposite direction. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Lead near grey band is cathode (negative pin) Precautions Not Applicable Specifications Voltage - DC Reverse (Vr) (Max): 100V, Current - Average Rectified (Io): 200mA, Voltage - Forward (Vf) (Max) @ If: 1V @ 10mA, Speed: Small Signal =< 200mA (Io), Any Speed, Current - Reverse Leakage @ Vr: 5µA @ 75V, Capacitance @ Vr, F: 4pF @ 0V, 1MHz, Operating Temperature – Junction: -65°C ~ 175°C 82 TI-Innovator™ Breadboard Data Sheets 7-segment Display Data Sheet Title 7-segment Display TI Item Name STEMEE/AC/DISP/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Array of LEDs arranged to display numbers and some alphabetic characters. Also has an LED for a decimal point. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications 20mA max per segment, Vf:2V HUB Commands Sketch Object DIGITAL.OUT Command Syntax Send("SET DIGITAL.OUT n ON") - n = 1 to 7 Code Sample: Desired Action Code Sample Configure the program to use 7 DIGITAL.OUT on pins BB 1 - 7 For (N, 1, 7) Send("CONNECT DIGITAL.OUT eval(N) TO BB eval(N)") Send("SET DIGITAL.OUT eval(N) ON") End TI-Innovator™ Breadboard Data Sheets 83 Infrared Receiver Data Sheet Title Infrared Receiver TI Item Name STEMEE/AC/REC/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Side emitting Infrared LED, designed to be paired with the LTR-301 Photo-Transistor. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications Power Dissipation: 100mW, Peak Formard Current: 3A with 300 x 1μs pulses per second, Continuous Forward Current: 50 mA, Reverse Voltage: 5V, Forward Voltage: 1.2V, Operating Temperature Range: -55°C - 100°C, Peak Wavelength: 940 nM, Viewing Angle: 40° HUB Commands Sketch Object DIGITAL.IN Command Syntax Send("READ DIGITAL.IN n") Code Sample: Desired Action Code Sample Send("CONNECT DIGITAL.IN 1 TO BB 2") Send("READ DIGITAL.IN 1") Get(D):Disp D 84 TI-Innovator™ Breadboard Data Sheets Infrared Transmitter Data Sheet Title Infrared Transmitter TI Item Name STEMEE/AC/TRANS/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Side sensing Infrared photo transistor, designed to be paired with the LTE-301 Infrared Emitter. Category LEDs and Displays Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications Power Dissipation: 100mW, Collector-Emitter Voltage: 30V, Emitter-Collector Voltage: 5V, Operating Temperature: 40°C to 85°C, Storage Temperature: -55°C to 100° HUB Commands Sketch Object DIGITAL.OUT Command Syntax Send("SET DIGITAL.OUT n ON") Code Sample: Desired Action Code Sample Send("CONNECT DIGITAL.OUT 1 TO BB 5") Send("SET DIGITAL.OUT 1 ON") TI-Innovator™ Breadboard Data Sheets 85 Motors Small DC Motor Data Sheet Title Small DC Motor TI Item Name STEMEE/AC/MOTOR/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Motor that converts direct current electrical power into mechanical power. Category Motors Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications Nominal Voltage: 4.7V, Operating Voltage: 2.0-5.5V, No Load Speed: 19900 r/min, No Load Current: 0.11A, At Maximum Efficiency of Torque: 0.14mN.m (1.4g.cm), At Maximum Efficiency of Output: 0.23W, Stall Torque: 0.7mN.m(7.1g.cm), Stall Current: 0.42A HUB Commands Sketch Object DCMOTOR Command Syntax Send("SET DCMOTOR n TO frequency [duty [TIME] seconds] ") frequency - 1 to 500Hz duty - 1 to 99% duty cycle (default: 50%) seconds = 1s default 86 TI-Innovator™ Breadboard Data Sheets HUB Commands Code Sample: Desired Action Code Sample Send("SET DCMOTOR 1 TO 50 TIME 5") TI-Innovator™ Breadboard Data Sheets 87 Power and Signal Control Topic Links • SPDT Slide Switch Data Sheet • 8 Position DIP Switch Data Sheet • 8 100 Ohm Resistor SIP Package Data Sheet • TTL Power MOSFET Data Sheet 88 TI-Innovator™ Breadboard Data Sheets SPDT Slide Switch Data Sheet Title SPDT Slide Switch TI Item Name STEMEE/AC/SWIT/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Single pole, double throw switch. Slide the switch knob back and forth to open and close contacts. Category Power and Signal Control Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications 30V, 200mA HUB Commands Sketch Object SWITCH Command Syntax Send("READ SWITCH n") Code Sample: Desired Action Code Sample Configure the program to use SWITCH on port BB 1 Send("CONNECT SWITCH 1 TO BB 1") Send("READ SWITCH 1") Get(T):Disp T TI-Innovator™ Breadboard Data Sheets 89 8 Position DIP Switch Data Sheet Title 8 Position DIP Switch TI Item Name STEMEE/AC/SWIT/B Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Set of 8 slide switches used to customize the behavior of the circuit components for specific situations. Category Power and Signal Control Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications '0.100", 100mA, 20VDC HUB Commands Sketch Object DIGITAL.IN Command Syntax Send("READ DIGITAL.IN n") - n = 1 to 8 or Send("READ SWITCH n") - n = 1 to 8 Code Sample: Desired Action Configure the program to use 8 SWITCHs on pins BB 1-8 90 TI-Innovator™ Breadboard Data Sheets Code Sample For (N, 1, 8) Send("CONNECT SWITCH eval(N) TO BB eval(N) ") Send("READ SWITCH eval (N)") Get(S):Disp S End TI-Innovator™ Breadboard Data Sheets 91 8 100 Ohm Resistor SIP Package Data Sheet Title 8 100 Ohm resistor SIP Package TI Item Name STEMEE/AC/RES/E Quantity 1 Included in TI-Innovator™ Breadboard Pack Description 8 100 Ohm resistor SIP package for use with the 8 Position DIP Switch. Category Power and Signal Control Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications Bussed array 92 TI-Innovator™ Breadboard Data Sheets TTL Power MOSFET Data Sheet Title TTL Power MOSFET TI Item Name STEMEE/AC/MOSFET/A Quantity 2 Included in TI-Innovator™ Breadboard Pack Description Transistor used for amplifying or switching electronic signals. Category Power and Signal Control Hub Connection breadboard circuit Assembly Instructions Connect the G-GATE to the BB pin of the TI-Innovator™ Hub, the D-DRAIN to the load being controlled (e.g., DC motor) and the S-SINK to ground. Precautions If the metal plate on the MOSFET becomes hot during use, disconnect the battery immediately and re-check all connections. Specifications supports 100A HUB Commands Sketch Object RELAY or ANALOG.OUT Command Syntax Send("SET RELAY n TO ON/OFF [[TIME] seconds]") or Send("SET ANALOG.OUT n TO 0-255/ON/OFF [[BLINK] frequency] [[TIME] seconds]") Code Sample: Note: a MOSFET can either be used as an ON/OFF control (RELAY) or for finer control (ANALOG.OUT) TI-Innovator™ Breadboard Data Sheets 93 HUB Commands Desired Action Code Sample Send("CONNECT RELAY 1 TO BB 7") Send("SET RELAY 1 ON") Send("CONNECT ANALOG.OUT 1 TO BB 7") Send("SET ANALOG.OUT 1 127") 94 TI-Innovator™ Breadboard Data Sheets Passive Components Topic Links • Accessories • Breadboard • Capacitors • Resistors TI-Innovator™ Breadboard Data Sheets 95 Accessories 40-Pack Male to Male Breadboard Jumper Cable Data Sheet Title 40-Pack Male to Male Breadboard Jumper Cables TI Item Name STEMEE/AC/CABKT/A Quantity 40 Included in TI-Innovator™ Breadboard Pack Description Male to Male jumper cables for connecting components on the breadboard. Category Accessories Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Cable lead may break if bent repeatedly Specifications Male to Male Pack of 40, 20cm 10-Pack Male to Female Breadboard Jumper Cable Data Sheet Title 10-Pack Male to Female Breadboard Jumper Cables TI Item Name STEMEE/AC/CABKT/B Quantity 10 96 TI-Innovator™ Breadboard Data Sheets Title 10-Pack Male to Female Breadboard Jumper Cables Included in Innovator™ Breadboard Pack Description Male to female jumper cables for connecting components on the breadboard. Category Accessories Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Cable lead may break if bent repeatedly Specifications Male to Female Pack of 10, 20cm 4-AA Battery Holder Data Sheet Title 4-AA Battery Holder TI Item Name STEMEE/AC/BATHLD/A Quantity 1 Included in Innovator™ Breadboard Pack Description 4-AA battery holder with tined solid leads for easy breadboard insertion. Category Accessories Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable TI-Innovator™ Breadboard Data Sheets 97 Title 4-AA Battery Holder Specifications BHC-341-1A with lead wires 150mm, Strip & Tin: 5mm+/1mm, UL1007, AWG 26 98 TI-Innovator™ Breadboard Data Sheets Breadboard Data Sheet Title Breadboard TI Item Name STEMEE/AC/BRDBD/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Platform for connecting the electronic components of a project by inserting component leads and jumper cables into pins. Category Breadboard Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Do not connect the positive and negative leads of a power source to the same group of 5 pins on the breadboard. Doing so could damage the breadboard and the power source. Observe the correct polarity: When connecting the breadboard to the Hub. When connecting components that are sensitive to polarity, such as LEDs and the TTL Power MOSFET. See also: TI-Innovator™ Hub Ports and Breadboard Usable Pins Specifications 45.7x35.6x9.4mm, 170 tie-point, POM plastic (150℃ ), Round Hole, with screwsx2pcs TI-Innovator™ Breadboard Data Sheets 99 Capacitors Capacitor 100µF Data Sheet Title Capacitor 100µF TI Item Name STEMEE/AC/CAP/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Capacitor that temporarily stores an electric charge of up to 100µF. Category Capacitors Hub Connection breadboard circuit Assembly Instructions Longer leg (lead) is positive (anode). If both leads are of equal length, the lead adjacent to the colored strip on the casing is the negative (cathode) lead. Precautions Not Applicable Specifications Capacitance: 100µF, Tolerance: ±20%, Voltage Rating: 16V Capacitor 10µF Data Sheet Title Capacitor 10µF TI Item Name STEMEE/AC/CAP/B Quantity 1 Included in Innovator™ Breadboard Pack Description Capacitor that temporarily stores an electric charge of up to 10µF. Category Capacitors Hub Connection breadboard circuit 100 TI-Innovator™ Breadboard Data Sheets Title Capacitor 10µF Assembly Instructions Longer leg (lead) is positive (anode). If both leads are of equal length, the lead adjacent to the colored strip on the casing is the negative (cathode) lead. Precautions Not Applicable Specifications Capacitance: 10µF, Tolerance: ±20%, Voltage Rating: 16V Capacitor 1µF Data Sheet Title Capacitor 1µF TI Item Name STEMEE/AC/CAP/C Quantity 1 Included in Innovator™ Breadboard Pack Description Capacitor that temporarily stores an electric charge of up to 1µF. Category Capacitors Hub Connection breadboard circuit Assembly Instructions Longer leg (lead) is positive (anode). If both leads are of equal length, the lead adjacent to the colored strip on the casing is the negative (cathode) lead. Precautions Not Applicable Specifications Capacitance: 1µF, Tolerance: ±20%, Voltage Rating: 16V TI-Innovator™ Breadboard Data Sheets 101 Resistors Resistor 100 Ohm Data Sheet Title Resistor 100 Ohm TI Item Name STEMEE/AC/RES/A Quantity 10 Included in TI-Innovator™ Breadboard Pack Description Resistor that provides 100 Ohms of resistance in a circuit. Color Code Value: brown, black, brown. Category Resistors Hub Connection breadboard circuit Assembly Instructions No polarity Precautions Not Applicable Specifications 'Resistance (Ohms): 100, Tolerance: ±5%, Power (Watts): 0.5W, 1/2W, Temperature Coefficient: 0/ -400ppm/°C, Operating Temperature: -55°C ~ 155°C Resistor 1K Ohm Data Sheet Title Resistor 1K Ohm TI Item Name STEMEE/AC/RES/B 102 TI-Innovator™ Breadboard Data Sheets Title Resistor 1K Ohm Quantity 10 Included in TI-Innovator™ Breadboard Pack Description Resistor that provides 1K Ohms of resistance in a circuit. Color Code Value: brown, black, red. Category Resistors Hub Connection breadboard circuit Assembly Instructions No polarity Precautions Not Applicable Specifications 'Resistance (Ohms): 1K, Tolerance: ±5%, Power (Watts): 0.5W, 1/2W, Temperature Coefficient: 0/ -400ppm/°C, Operating Temperature: -55°C ~ 155°C Resistor 10K Ohm Data Sheet Title Resistor 10K Ohm TI Item Name STEMEE/AC/RES/C Quantity 10 Included in TI-Innovator™ Breadboard Pack Description Resistor that provides 10K Ohms of resistance in a circuit. Color Code Value: brown, black, orange. Category Resistors Hub Connection breadboard circuit Assembly Instructions No polarity TI-Innovator™ Breadboard Data Sheets 103 Title Resistor 10K Ohm Precautions Not Applicable Specifications 'Resistance (Ohms): 10K, Tolerance: ±5%, Power (Watts): 0.5W, 1/2W, Temperature Coefficient: 0/ -400ppm/°C, Operating Temperature: -55°C ~ 155°C Resistor 100K Ohm Data Sheet Title Resistor 100K Ohm TI Item Name STEMEE/AC/RES/D Quantity 10 Included in TI-Innovator™ Breadboard Pack Description Resistor that provides 100K Ohms of resistance in a circuit. Color Code Value: brown, black, yellow. Category Resistors Hub Connection breadboard circuit Assembly Instructions No polarity Precautions Not Applicable Specifications 'Resistance (Ohms): 100K, Tolerance: ±5%, Power (Watts): 0.5W, 1/2W, Temperature Coefficient: 0/ -400ppm/°C, Operating Temperature: -55°C ~ 155°C 104 TI-Innovator™ Breadboard Data Sheets Resistor 10M Ohm Data Sheet Title Resistor 10M Ohm TI Item Name STEMEE/AC/RES/F Quantity 10 Included in TI-Innovator™ Breadboard Pack Description Resistor that provides 10M Ohms of resistance in a circuit. Color Code Value: brown, black, blue. Category Resistors Hub Connection breadboard circuit Assembly Instructions No polarity Precautions Not Applicable Specifications 'Resistance (Ohms): 10M, Tolerance: ±5%, Power (Watts): 0.5W, 1/2W, Temperature Coefficient: 0/ -400ppm/°C, Operating Temperature: -55°C ~ 155°C Potentiometer with Knob Data Sheet Title Potentiometer with Knob TI Item Name STEMEE/AC/POTEN/A Quantity 1 Included in TI-Innovator™ Breadboard Pack Description Variable resistor with knob used to change the resistance in TI-Innovator™ Breadboard Data Sheets 105 Title Potentiometer with Knob a circuit. Category Resistors Hub Connection breadboard circuit Assembly Instructions Not Applicable Precautions Not Applicable Specifications 1 Turn, 10K HUB Commands Sketch Object POTENTIOMETER Command Syntax Send("READ POTENTIOMETER n") Code Sample: Desired Action Code Sample Read potentiometer Send("READ POTENTIOMETER 1") Get(P):Disp P 106 TI-Innovator™ Breadboard Data Sheets Frequently Asked Questions This section includes some of the frequently asked questions we have received about the TI-Innovator™ Technology. Don’t see your question? Send feedback to the eGuide team. hubeguide@list.ti.com Topic Links • Product Configuration Information • Product Compatibility Information • TI-Innovator™ Ports Information • General TI-Innovator™ Rover Information • TI-Innovator™ Hub App for the TI-84 Plus CE • Updating Sketch on the TI-Innovator™ Hub • TI LaunchPad™ Information • General Activity Information • General Power Information for TI-Innovator™ Hub • External Battery Information for TI-Innovator™ Hub • TI-Innovator™ Rover Battery Information • TI-Innovator™ Hub On-Board Components Details • TI-Innovator™ Rover On-Board Components Details • I/O Module Details • Breadboard Components Details Frequently Asked Questions 107 Product Configuration Information What are the TI-Innovator™ configurations that are available for sale? - TI-Innovator™ Hub Kit TI-Innovator™ Rover TI-Innovator™ I/O Module Pack TI-Innovator™ Breadboard Pack Ultrasonic Ranger Module External Battery What is included with the TI-Innovator™ Rover? - TI-Innovator™ Rover Breadboard Ribbon Cable I2C Cable What is included in the TI-Innovator™ Hub Kit? The TI-Innovator™ Hub Kit contains the following: - TI-Innovator™ Hub TI Wall Charger USB Cable – Standard-A to Micro-B USB Cable – Mini-A to Mini-B USB Cable – Standard-A to Mini-B What is included in the TI-Innovator™ I/O Module Pack? The TI-Innovator™ I/O Module Pack contains the following: - Light Sensor module with detachable cable LED module with detachable cable Vibration Motor module with detachable cable Servo Motor with attached cable See I/O Module section for more detail. What is included in the TI-Innovator™ Breadboard Pack? The TI-Innovator™ Breadboard Pack contains the following: 108 – Breadboard 2 x 3 inches – 940nm Infrared transmitter and receiver – Forty (40) – Male to Male breadboard jumper cables (20 cm) – Thermistor – Ten (10) – Male to Female breadboard jumper cables – Analog temperature sensor Frequently Asked Questions – Assorted LEDs (five (5) green, ten (10) red, two (2) RGB) – Potentiometer with knob – Assorted resistors (ten (10) each of 100 Ohm, 1K Ohm, 10K Ohm, 100K Ohm, 10M Ohm) – Small DC motor – Assorted capacitors (one (1) each of 100 µF, 10 µF, 1 µF) – Diode – 7 segment display – Light sensor – SPDT slide switch – 8-Position DIP switch – 8 100 Ohm resistor SIP packages – Two (2) Power MOSFET – 4AA battery holder See Breadboard section for more detail. What is included with the Ultrasonic Ranger Module? - Ultrasonic Ranger Module with detachable cable. See I/O Module section for more detail. What is included with the External Battery Kit? - This kit only contains the External Battery (Model # MP-3000). See Battery section for more detail. Frequently Asked Questions 109 Product Compatibility Information What TI products will work with the TI-Innovator™ Hub? The TI-Innovator™ Hub is compatible with the following TI products. For best results always use the latest version of the TI-Innovator sketch and compatible products. - TI CE Graphing Calculator TI-Nspire™ CX handheld TI-Nspire™ CX CAS handheld TI-Nspire™ CX computer software (Student, Teacher, and TI-Nspire™ CX Navigator™) What programming language is compatible with the TI-Innovator™ Hub? The TI-Innovator™ Hub can be programmed through the programming language TI BASIC on both the TI CE graphing calculators and TI-Nspire™ CX calculators. This programming language is used in several TI CE graphing calculators and is based on the BASIC (Beginner's All-purpose Symbolic Instruction Code) programming language. BASIC is a family of general-purpose, high-level programming languages whose design philosophy emphasizes ease of use. In addition, with TI-Nspire™ CX technology you can use LUA programming which is a powerful, fast scripting language. See Also: Hub Programming on TI CE Graphing Calculator for details. See Also: Hub Programming on TI-Nspire™ CX Technology for details. What sensors, actuators, etc. can I connect to the TI-Innovator™ Hub? The TI-Innovator™ Hub has two types of connectors: - Universal 4-pin connector that is compatible with an array of modules. Breadboard connector that can be connected to a breadboard for prototyping projects. To easily get started, we have convenient kits that contain all the components you need to complete the activities. See the sections related to the I/O Module and Breadboard for details. Can the TI-Nspire™ Lab Cradle with Vernier™ sensors be used while using the TIInnovator™ Hub? Yes, the TI-Nspire™ Lab Cradle can be used concurrently with the TI-Innovator™ Hub on TI-Nspire™ CX Handheld or TI-Nspire™ CX software. To use both the TI-Innovator™ Hub and TI-Nspire™ Lab Cradle at the same time, they must be accessed via a LUA script. Can I plug Vernier™ sensors directly into the TI-Innovator™ Hub? The TI-Innovator™ Hub ports are not directly compatible with the Vernier™ sensors. The Vernier™ sensors can be connected to a TI-Nspire™ Lab Cradle. To use both the TIInnovator™ Hub and TI-Nspire™ Lab Cradle at the same time, they must be accessed via a LUA script. 110 Frequently Asked Questions Can the TI-Nspire™ CX Navigator™ System be used while using the TI-Innovator™ Hub? Yes, students can have their TI-Nspire™ CX handheld connected to the TI-Nspire™ CX Navigator™ system while using the TI-Innovator™ Hub. The teacher can use TI-Nspire™ CX Navigator™ functionality, including Live Presenter, Screen Capture, Quick Poll, etc. while students are using the TI-Innovator™ Hub. Can TI Connect™ CE or TI-SmartView™ CE software communicate with the TIInnovator™ Hub? The TI-Innovator™ Hub cannot communicate directly with the TI Connect™ CE software or TI-SmartView™ CE software. However, you can use TI Connect™ CE software to write programs for use with the TI-Innovator™ Hub. TI-SmartView™ CE software is a great way to demo the programming steps to your students. TI-Innovator™ Ports Information What connection ports are available, and what can they connect to? See What's in the Box for details. What is the difference between the two USB ports? - - DATA: This is a mini-USB port, labeled "DATA B", that is used to connect to the TI graphing calculator, or a computer running TI-Nspire™ CX software. The USB port is located on the same side as the Light Sensor. POWER: This USB port, labeled “PWR,” is located on the same side as the Breadboard connector. This is a micro-USB port that is used for two purposes. 1. Connect to external power source (TI Wall Adapter and TI-Innovator™ External Battery) when using components that require 5V (e.g., motor). 2. Connect to computer USB port to update the TI-Innovator™ sketch. General TI-Innovator™ Rover Information What TI products will work with the TI-Innovator™ Rover? The TI-Innovator™ Rover is compatible with the following TI products. For best results always use the latest version of the TI-Innovator sketch and compatible products. - TI-84 Plus CE calculator TI-Nspire™ CX handheld TI-Nspire™ CX CAS handheld TI-Nspire™ CX computer software (Student, Teacher, and TI-Nspire™ CX Navigator™) What are the features of the TI-Innovator™ Rover? - Two independently controllable motors with high resolution motor shaft encoder sensors to count revolutions Front mounted ranger for measuring distance to obstacles Bottom mounted color sensor to measure color Frequently Asked Questions 111 - Red Green Blue (RGB) LED on top to display programmable feedback to user High-capacity, rechargeable battery to meet the needs of classroom use Calculator Holder Pegs - For securing a TI CE Graphing Calculator or a TINspire™ CX Handheld to the calculator platform. Allows use of TI-Innovator speaker, light brightness sensor, and input and output ports Gyroscope to measure heading Tracks mathematical coordinates, time, heading, and distance for each segment in travel history for analysis Marker holder for drawing paths on paper What type of marker does Rover work with? Thin markers or dry erase markers should work with the Rover marker holder. Adding masking tape to markers that are too thin may improve performance. 112 Frequently Asked Questions TI-Innovator™ Hub App for the TI CE Graphing Calculator(s) What is the TI-Innovator™ Hub App? The TI-Innovator™ Hub App adds the HUB menu to the programming menu on a TI CE graphing calculator. This menu option makes it easy to select commands that are commonly used when creating programs to use with the TI-Innovator™ Hub. How do I know whether I have the TI-Innovator™ Hub App? To determine if the Hub app is loaded on your TI CE graphing calculator, follow these steps. 1. Press 2nd [mem] 2. Select option "2: Mem Management/Delete…" 3. Select option "A: Apps" 4. The TI-Innovator™ Hub App is listed as "Hub" in the list of apps. Confirm that the Hub is listed. Frequently Asked Questions 113 What version of the TI-Innovator™ Hub App do I need? For best results always use the latest version of the TI-Innovator™ Hub App and TI-84 Plus CE. Visit education.ti.com/en/product-resources/whats-new-84-ce to get the latest. How do I know what the version number of my TI-Innovator™ Hub App is? To determine the version of the Hub App that is loaded on your TI CE Graphing Calculator, follow these steps. 1. Press 2nd [mem] 2. Select option "2: Mem Management/Delete…" 3. Select option "A: Apps" 4. Press the down arrow until the Hub app is selected. 5. Look at the title bar to view the version number of the Hub app. How do I get the TI-Innovator™ Hub App? The TI-Innovator™ Hub App is available for download from the TI website at education.ti.com/latest. 114 Frequently Asked Questions Will I need to update the TI-Innovator™ Hub app every time I update the calculator OS? The TI-Innovator™ Hub app would only need to be updated when new functionality is added to the app. However, it is strongly recommended that you always keep your TI products up to date with the latest OS and versions. When updating your OS always check to see if any apps have updates as well. Do I need an app to use the TI-Innovator™ Hub with TI-Nspire™ CX technology? No. TI-Nspire™ CX technology has all the commands to communicate with the TIInnovator™ Hub built in. For best results always use the latest version of TI-Nspire™. Frequently Asked Questions 115 Updating Sketch on the TI-Innovator™ Hub What is the TI-Innovator™ sketch? The ‘sketch’ is the software on the TI-Innovator™ Hub that communicates with the graphing calculator, processes the commands, and controls the external components. Do I need to update the sketch on the TI-Innovator™ Hub? For best results always use the latest version of TI-Innovator™ sketch. To stay informed on any updates to the TI-Innovator™ Hub, make sure you register your product at education.ti.com/register or check the TI-Innovator™ website at education.ti.com/go/innovator. What is the latest version of the sketch? For best results always use the latest version of TI-Innovator sketch. You can always find the latest version of the sketch at education.ti.com/go/innovator. Why would I update the sketch? There are a couple of different reasons to upgrade the sketch. 1. To get the latest version from TI that may include new functionality. 2. To restore the TI sketch after loading a custom sketch – This is only needed by advanced users who use an alternative sketch. How do I load the sketch on the TI-Innovator™ Hub? The sketch can be updated through the TI-Innovator Hub Update Software. This software is a free download on the TI website. Can I update multiple TI-Innovator Hubs at the same time? The TI-Innovator Hub Update Software only allows updating a single Hub at a time. However, the application is designed to allow you to update multiple Hubs without having to re-launch the software. How do I know what version of the sketch I have? The latest versions of the calculator operating systems have new functionality that will show you the version of sketch on a connected Hub. TI-Nspire™ CX handhelds or software 1. Connect your TI-Innovator Hub to the handheld or the computer through a USB cable 2. Make sure to connect to the Hub’s DATA port 3. Click the ‘Home/On’ button, then “5: Settings” and “7:TI-Innovator Hub”. The dialog will show the version number of the sketch. 116 Frequently Asked Questions TI-84 Plus CE: 1. Connect your TI-Innovator Hub to the graphing calculator through a USB cable 2. Make sure to connect to the Hub’s DATA port 3. Click the APPS button and then select the ‘Hub’ app. The app will display the sketch version of the connect TI-Innovator Hub. For previous versions of calculator OSs, you can use programming commands to identify the version number of the sketch loaded on the TI-Innovator™ Hub. Use the "VERSION" command on the Hub Manage menu to return the version number of the sketch on the TI-Innovator™ Hub. TI-Nspire™ CX handhelds or software: GetStr "VERSIO TI-84 Plus CE: Send ("VERSIO Frequently Asked Questions 117 TI-Nspire™ CX handhelds or software: N", ver Disp ver TI-84 Plus CE: N") Get(Str1) Disp Str1 What are the system requirements for upgrading? Windows OS Processor RAM Free hard drive space Screen resolution Other requirements: Mac OS Processor RAM Free hard drive space Screen resolution Other requirements: Windows® 7 SP1 Windows 8.1 Update 1 Windows 8.1 Update 1 Pro Windows 10 Compatible with 32-bit and 64-bit Operating Systems Intel Core i3 or higher generation processor (Except Intel Atom) 2GB 100 MB 1024 x 768 (minimum) - 3840 x 2160 (maximum) Available USB Port Active internet connection for installation Mac® OS X 10.11 macOS 10.12, 10.13 Any Mac 2008 or newer 2GB 100 MB 1024 x 768 (minimum) - 3840 x 2160 (maximum) Available USB Port Active internet connection for installation Can the sketch that comes on the TI-Innovator™ Hub be edited to add functionality but still work with the TI calculator? Is the sketch open source? The code for sketch that is loaded on the TI-Innovator™ has not been published for others to modify or edit. To maintain compatibility between the TI-Innovator™ Hub and TI calculator products, only use the officially published sketch for TI-Innovator™ Hub. 118 Frequently Asked Questions TI LaunchPad™ Information What is a TI LaunchPad™ development kit? TI LaunchPad kits are a range of microcontroller development kits (also called evaluation boards) from Texas Instruments. To learn more there is a lot of detail regarding the TI LaunchPad ecosystem at http://www.ti.com/ww/en/launchpad/about.html. What TI LaunchPad™ kit is used in the TI-Innovator™ Hub? The TI-Innovator™ Hub is powered by a MSP432P401 TI LaunchPad kit. More information on the MSP432P401 LaunchPad is at http://www.ti.com/ww/en/launchpad/launchpads-msp430-mspexp432p401r.html#tabs. Can I use the TI-Innovator™ Hub as a TI LaunchPad™ development kit? While the TI-Innovator™ Hub can be used as TI LaunchPad™ Board, the TI-Innovator™ Hub was specifically designed to be used by students learning how to code, build, and explore using electronics. More information on TI LaunchPad can be found at http://www.ti.com/ww/en/launchpad/about.html. What resources are available for the TI LaunchPad? If you are interested in the TI LaunchPad ecosystem, you can find resources at http://www.ti.com/ww/en/launchpad/about.html How are development kits/engineering boards used by engineers in the real word? Engineers use evaluation boards like the TI LaunchPad™ boards to prototype their designs and verify the suitability of a particular chip for their design. These boards allow engineers to try different approaches before finalizing their design. The boards also help the engineers measure other aspects of their designs, such as power consumption and speed of operations. These evaluation boards are also used in universities to learn about microcontrollers, programming, and interfacing with sensors. Frequently Asked Questions 119 General Activity Information What activities are available for the TI-Innovator™ Hub? There are multiple activities available to use with the TI-Innovator™ Hub. Working with educators we have created activities around the following themes: 10 Minutes of Code for TI-Innovator™ Hub: Engage students in short activities that build understanding of math concepts, programming logic, and coding skills. Activities use the built-in RGB, LED, Speaker, and Light Brightness Sensor of the TIInnovator™ Hub. Activities are available for the TI-84 Plus CE and TI-Nspire™ CX technology. 10 Minutes of Code for TI-Innovator™ Rover: Continue learning to code with the TI- Innovator™ Rover. Build on your knowledge of programming the TI-Innovator™ Hub and write programs to control the TI-Innovator™ Rover. Learn the commands to make the Rover move and use its built-in ranger and color sensor. Activities will be available for the TI-84 Plus CE and TI-Nspire™ CX technology. Math and Science Classroom “Conversations” for TI-Innovator™ Rover: Ready-to-use programs for the TI-84 Plus CE and TI-Nspire™ CX technology. These programs will include a usage guide for the teacher that will provide suggestions on how to implement the TI-Innovator™ Rover with the program(s) provided to explore concepts in the math and/or science classroom. Science through Engineering Design: Rich, interactive lessons for middle grades students in life and physical science. Uses components provided in the TIInnovator™ I/O Module Pack. Activities are available for TI-Nspire™ CX technology. Path to STEM Projects: Design, build, test, refine. These sequential activities engage middle grade and high school students in engineering principles, providing students with the basic knowledge and skills required to synthesize new and unique STEM projects. These activities require the components provided in the TIInnovator™ Breadboard Pack. Activities are available for the TI-84 Plus CE and TINspire™ CX technology. Where can I download activities for the TI-Innovator™ Hub? Activities for use with the TI-Innovator™ Hub can be found at the education.ti.com website, under the Activities tab at the top of each page. Direct links to each set of activities are as follows: - 120 10 Minutes of Code with TI-Innovator™ Hub: education.ti.com/ticodes 10 Minutes of Code with TI-Innovator™ Rover: education.ti.com/ticodes Math and Science Classroom “Conversations” for TI-Innovator™ Rover: Science through Engineering Design: https://education.ti.com/en/tisciencenspired/us/stem Path to STEM Projects: TBD Frequently Asked Questions When will the activities be available? The activities for the TI-Innovator™ Hub are now available. Activities for the TIInnovator™ Rover will be available in Fall 2017. Frequently Asked Questions 121 General Power Information for TI-Innovator™ Hub How is the TI-Innovator™ Hub powered? The TI-Innovator™ Hub is powered by the batteries in the TI CE graphing calculator or the TI-Nspire™ CX handheld. In certain activities with high-powered devices such as servo motors, you may need to use an auxiliary power source – either the TI Wall Adapter or External Battery. How does the TI-Innovator™ Hub affect the TI CE Graphing Calculator or TI-Nspire™ CX battery life? The TI-Innovator™ Hub has a minimal impact on the battery of the TI CE graphing calculator or TI-Nspire™ CX graphing calculators. When do I need to use the external power? When using the Input and Output ports: Certain I/O Modules require external power, as they use the 5V (OUT3 or IN3) ports on the TI-Innovator™ Hub. See the I/O Module section for details. When using the Breadboard connector: A circuit that is powered from the 5V output of the breadboard connector will require external power. What options are available for external power? You can use the TI Wall Adapter or the External Battery for additional power. The TI Wall Adapter comes with the TI-Innovator™ Hub and is the same wall charger that is provided with the TI CE graphing calculator and TI-Nspire™ CX calculators. The External Battery is sold separately as an accessory for the TI-Innovator™ Hub. Can I use a different battery/power supply with the TI-Innovator™ Hub? You should only use the battery and power supply provided by TI to ensure safe operation. 122 Frequently Asked Questions External Battery Information for TI-Innovator™ Hub What is the external battery? The External Battery provides additional power for those components that require more power than can be provided via the TI graphing calculator. This battery (Model # MP-3000) was selected to meet TI-Innovator™ component power needs. How do you use the External Battery with the TI-Innovator™ Hub? Using the Standard-A to Micro-B USB cable provided with the TI-Innovator™ Hub, the external battery should be connected to the PWR USB port on the TI-Innovator™ Hub. The external battery has an On/Off switch that must be turned on to provide power the TI-Innovator™ Hub. How long will the battery last on a full charge? The battery life will depend on the components attached to the TI-Innovator™ Hub. For example, the Servo Motor Module that is used with the Science through Engineering Design activities can run for 8 hours of continuous use using the external battery. Other components could last longer or drain the battery more rapidly. What is the expected lifetime of the battery? As lithium-ion batteries age, they lose capacity. When properly maintained and under normal usage, batteries are expected to last about three years. How do you recharge the battery? The External Battery can be recharged using the TI Wall Adapter (included with the TIInnovator™ Hub) or the USB cable that came with the TI-Innovator Hub plugged into a computer USB port. How do I know how charged my battery is? When you turn the external battery on, the LED battery indicators on the External Battery will display the approximate battery charge (25%, 50%, 75%, and 100%). The LEDs turn themselves off after 10 seconds. Can I use the External Battery with other products? The External Battery was specifically tested for use with the TI-Innovator™ Hub. Frequently Asked Questions 123 Rover Battery Information How long will the battery last on a full charge? The battery will last 8 hours of continuous driving. Typical use is expected to include frequent breaks for programming. In that scenario, a full charge will last several days of uses. What is the expected lifetime of the battery? As lithium-ion batteries age, they lose capacity. When properly maintained and under normal usage, batteries are expected to last about 3 years. How do you recharge the battery? Connect a micro-USB cable to the PWR port on the right front side of the Rover. The other end of the cable can be connected to a PC or a TI wall charger. How do I know how charged my battery is? The four battery level LEDs shows the battery capacity. When all four LEDs are solid green, the Rover battery is fully charged. 124 Frequently Asked Questions TI-Innovator™ Hub On-Board Components Details What are the capabilities of the on-board components? Component Capabilities Details RGB LED Built-in light-emitting diode (LED) that is capable of emitting a variety of colors. Can control red, blue, and green levels of intensity (0 to 255) to create a specific color. Red LED Built-in light-emitting diode (LED) that emits a red light. Can set LED on or off, set LED to blink and determine frequency and duration. Speaker Built-in speaker located at the back of the Hub. It converts electrical current into sound you can hear. The speaker can emit sounds from 40 to 4000 Hz. Light Brightness Sensor Built-in light brightness sensor located at the bottom of the Hub. The sensor detects light intensity. Can detect ambient light brightness. Value is scaled from 0 (darkness) to 100 (bright sunlight). What are some examples of using the on-board components? Component Desired Action Program Code RGB LED Turn on blue element of onboard RGB LED ("COLOR") at 100% brightness. Send "SET COLOR.BLUE 255" Red LED Turn on the on-board Red LED ("LIGHT"). Send "SET LIGHT ON" Speaker Play a 440Hz tone on the onboard speaker ("SOUND") for 2 seconds. Send "SET SOUND 440 TIME 2" Light Brightness Sensor Read and display the current value of the on-board light sensor ("BRIGHTNESS"). Range is 0% to 100%. Send "READ BRIGHTNESS" Get a: Disp a Frequently Asked Questions 125 What are all the LEDs that are built into the TI-Innovator™ Hub? . What are the full syntax options for the each of the on-board components? Component Command Syntax Desired Action Code Samples RGB LED Send("SET COLOR …") Turn ON Red and Green elements of tri-color LED Send("SET COLOR ON ON OFF") Set Red to full intensity, Green to half intensity, Blue to off Send("SET COLOR 255 128 0") Set Red to full intensity, Green to half intensity, Blue to off for 10 seconds Send("SET COLOR 255 128 0 TIME 10") Set Red to full intensity, Send("SET COLOR 255 128 0 BLINK 2 TIME 10") ON/OFF/0255 (red element) ON/OFF/0255 (green element) ON/OFF/0255 (blue element) [BLINK frequency] (in Hz) [TIME duration] (in seconds) 126 Frequently Asked Questions Component Command Syntax Desired Action Code Samples Green to half intensity, Blue to off and blink at 2 Hz (2 times a second) for 10 seconds Red LED Send("SET LIGHT …") ON/OFF [BLINK frequency] [TIME duration] (in seconds) Speaker Send("SET SOUND …") Frequency in Hz Turn OFF the Red element Send("SET COLOR.RED 0") Turn ON the Green element at half intensity and blink it at 2 Hz (2 times a second) for 10 seconds Send("SET COLOR.GREEN 128 BLINK 2 TIME 10") Turn LED ON Send("SET LIGHT ON") Turn LED OFF Send("SET LIGHT OFF") Turn LED ON for 10 seconds Send("SET LIGHT ON TIME 10") Turn LED ON, blink LED at 2 Hz (2 times a second) for 10 seconds Send("SET LIGHT 1 BLINK 2 TIME 10") Play tone at 261.23 Hz Send("SET SOUND 261.23") Frequently Asked Questions 127 Component Command Syntax [TIME duration in seconds] Light Brightness Sensor 128 Send("READ BRIGHTNESS") Frequently Asked Questions Desired Action Code Samples Evaluate the expression 2^8 (= 256) and play that tone Send("SET SOUND eval (2^8)") Evaluate the expression 2^8 ( = 256) and play that tone for .25 sec Send("SET SOUND eval (2^8) TIME .25") Evaluate the expression 2^9 (= 512) and play that tone for 0.25 s (result of evaluating 1/4) Send("SET SOUND eval( 2^9) TIME eval(1/4)") Turn speaker off Send("SET SOUND OFF") Read the built-in light brightness sensor Send("READ BRIGHTNESS") Get(B) TI-Innovator™ Rover On-Board Components Details What are the capabilities of the Rover on-board components? Component Capabilities Details 2 Motors with encoders Move the Rover – forward, backward, turns – and measure the distance traveled. The rotary encoders – one on each motor – measure the distance traveled by the Rover. Ultrasonic Ranger Measure the distance to an obstacle. The front-facing ultrasonic ranger that measures the distance Color Sensor Sense the color of the surface that the Rover is driving on. The color sensor is on the bottom of the Rover and is used to detect the color of the surface. RGB light indicator Display any combination of red green and blue colors. The tri-color RGB LED on the top surface of the Rover can be controlled through user programs to display any color combination Gyroscope Measures the angular change in Rover motion The gyroscope is used to maintain the heading of Rover while it’s in motion. It can also be used to measure the change in angle during turns. What are some examples of using the Rover on-board components? Component Desired Action Program Code 2 Motors with encoders Move RV Forward by .5 M Move RV Backward by .1 M Send "RV FORWARD 0.5 M" Send "RV BACKWARD 0.1 M" Ultrasonic Ranger Detect distance to object in front of Rover Send "READ RV.RANGER" Get r Disp r Color Sensor Detect color of surface There are three different ways to detect the color: Send "READ RV.COLORINPUT" Get c Frequently Asked Questions 129 Component Desired Action Program Code 1 As one of 9 pre-defined colors The return value is in the 1 – 9 range which maps to the colors below: If c=1 Then Disp "Red detected" ElseIf c=2 Then Disp "Green detected" ElseIf c=3 Then Disp "Blue detected" EndIf Color Return value Red Green Blue Cyan Magenta Yellow Black White Gray 1 2 3 4 5 6 7 8 9 Detect intensity of individual red, green, blue components of surface Send "READ RV.COLORINPUT.RED" Get r The results are in 0-255 range Send "READ RV.COLORINPUT.GREEN" Get g Send "READ RV.COLORINPUT.BLUE" Get g r, g, b will be in 0-255 range RGB light indicator 130 Detect grayness of surface The result will be in 0-255 range Send "READ RV.COLORINPUT.GRAY" Get gr This supports the same commands and parameters as the RGB LED on the TIInnovator™ Hub Send "SET RV.COLOR 255 0 255" Send "SET RV.COLOR.RED 100" Send "SET RV.COLOR.GREEN 255" Send "SET Frequently Asked Questions Component Desired Action Program Code RV.COLOR.BLUE 150" Gyroscope This component is used internally by the FORWARD, BACKWARD and ANGLE commands. It can also be used directly for machinelevel programming. Send "SET RV.ENCODERSGYRO 0" Send "READ RV.ENCODERSGYRO" Get e Send "READ RV.GYRO" Get g What are the full syntax options for the each of the Rover on-board components Componen t Desired Action Desired Action 2 Motors with encoders RV FORWARD RV BACKWARD Drive in a straight line for a fixed distance/time Advanced: SET RV.MOTORS READ RV.ENCODERSGYRO Drive/draw in a education.ti.co specific shape (circle, m square, etc.) or function READ RV.RANGER Drive until an obstacle is detected Ultrasonic Ranger Program Code For all Rover Code Samples and Test Programs go to: Drive to a specific coordinate Collect position versus time data Color Sensor READ RV.COLORINPUT READ RV.COLORINPUT.RED READ RV.COLORINPUT.GREE N READ RV.COLORINPUT.BLUE READ RV.COLORINPUT.GRAY Follow a line that is on the floor Speed up when green is detected, slow down when red is detected Frequently Asked Questions 131 Componen t Desired Action Desired Action RGB light indicator SET RV.COLOR b> Indicate different colors depending on how close to an object Provides visual feedback/confirmatio n during activity Gyroscope 132 READ RV.ENCODERSGYRO READ RV.GYRO Frequently Asked Questions Angular positioning Program Code I/O Module Details What are the capabilities of the TI-Innovator™ I/O Modules available from TI? Component Capabilities Details Servo Motor 360 degree, continuous rotation servo motor. Can control direction and speed. Should only be connected to the OUT 3 port and requires external power. Vibration motor Coin type motor that vibrates. Can control the intensity of the vibrations. Light sensor Sensor that detects the light intensity of the environment. Can detect ambient light brightness. Value is scaled from 0 (darkness) to 100 (bright sunlight). White LED Light-emitting diode that emits white light. Can set LED on or off, set LED to blink and determine frequency and duration. Ultrasonic Ranger Measures distance from the module in centimeters Can measure distance from 1cm to 4 meters What are some examples of using the TI-Innovator™ I/O Modules available from TI? Component Desired Action Program Code (TI CE Graphing Calculator) Servo Motor Rotate the shaft of the Servo Motor connected to OUT 3 counter clockwise by 90° Send("CONNECT SERVO 1 TO OUT 3") Send("SET SERVO 1 TO -90") Vibration motor Turn on the Vibration Motor connected to OUT 1 Send("CONNECT VIB.MOTOR 1 TO OUT 1) Send("SET VIB.MOTOR 1 TO ON") Light sensor Read and display ambient light level from the sensor connected to IN 2 Send("CONNECT LIGHTLEVEL 1 TO IN2") Send("READ LIGHTLEVEL 1") Get(L):Disp(L) Frequently Asked Questions 133 Component Desired Action Program Code (TI CE Graphing Calculator) White LED Turn on the White LED module connected to OUT 1 Send("CONNECT LED 1 TO OUT 1") Send("SET LED 1 ON") Ultrasonic Ranger Read and display measured distance from the ranger connected to IN 2 Send("CONNECT RANGER 1 TO IN2") Send("READ RANGER 1") Get(R):Disp (R) What are the full syntax options for the each of the TI-Innovator™ I/O Modules available from TI? Compone nt Command Syntax Desired Action Code Samples Servo Motor Send("SET SERVO n [TO] [CW/CCW] speed [[TIME] seconds] -- speed from -100 to 100, CW/CCW (Clockwise/Counterclockwi se) optional, if speed <0, CCW, else CW unless CW/CCW keyword is specified, TIME optional, in seconds, default=1 second (for continuous servo operation) Configure the program to use SERVO on port OUT 3 Send ("CONNECT SERVO 1 TO OUT 3") set SERVO to turn Counterclockwis e (CCW) at full (100%) speed for 2 seconds Send("SET SERVO 1 CCW 100 2") set SERVO to turn Clockwise (CW) at half (50%) speed for 1 second (default time if not specified) Send("SET SERVO 1 CW 50") Turn SERVO Off Send("SET SERVO 1 ZERO") or Send("SET SERVO 1 STOP") (CW/CCW required if TIME/seconds NOT specified.) 134 Frequently Asked Questions Compone nt Vibration motor Light sensor Command Syntax Send("SET VIB.MOTOR 1 TO pwm") - pwm from 0 to 255 Send("READ LIGHTLEVEL n") Desired Action Code Samples Set SERVO to move to -90 degree position (CCW) Send("SET SERVO 1 TO -90") or Equivalent code using a variable with eval(): angdeg:=-90 Send ("CONNECT SERVO 1 TO OUT 3") Send("SET SERVO 1 TO eval (angdeg) ") Configure the program to use ANALOG.OUT on port OUT 2 Send ("CONNECT VIB.MOTOR 1 TO OUT 2") Turn OFF vibration motor Send("SET VIB.MOTOR 1 TO 0") Turn ON vibration motor at full power Send("SET VIB.MOTOR 1 TO 255") Turn ON vibration motor at half power Send("SET VIB.MOTOR 1 TO 128") Configure the program to use LIGHTLEVEL on port IN 1 Send ("CONNECT LIGHTLEVE L 1 TO IN 1") Frequently Asked Questions 135 Compone nt White LED Ultrasonic Ranger Command Syntax Send("SET LED 1 [TO] ON/OFF [[BLINK|TOGGLE] frequency] [[TIME] seconds] ") Send("READ RANGER n") Get(R):Disp R Desired Action Code Samples Read the light sensor Send ("READ LIGHTLEVE L 1") Get(L) Configure the program to use LED on port OUT 1 Send ("CONNECT LED 1 TO OUT 1") Turn LED ON Send("SET LED 1 ON") Turn LED OFF Send("SET LED 1 OFF") Turn external LED ON for 5 seconds Send("SET LED 1 TO ON TIME 5") -- Turn external LED ON and blink it at 2 Hz (2 times a second) for 5 seconds Send("SET LED 1 TO ON BLINK 2 TIME 5") Configure the program to use RANGER on port IN 1 Send ("CONNECT RANGER 1 TO IN 1") Read the Ultrasonic Ranger Send ("READ RANGER 1") Get (R) What other I/O Modules could work with the TI-Innovator™ Hub? The items contained in the TI-Innovator™ kits have all been verified to be fully compatible with the TI-Innovator™ Technology. The sketch of the TI-Innovator™ Hub can support other modules that are compatible with the universal 4-pin connector that 136 Frequently Asked Questions is used for the input and output ports. Supported commands and potential modules are listed below. If there are specific components you think would be valuable for classroom activities, please contact TI-Cares and provide your feedback. Example Module Component(s) Command/Sketch Object Barometer Sensor BAROMETER Button, Magnetic Switch BUTTON 3-Axis Digital Compass COMPASS Fan DCMOTOR Temperature & Humidity Sensor DHT Single or variable color LEDs LED Light sensor LIGHTLEVEL Sound Sensor, Loudness Sensor LOUDNESS Moisture Sensor MOISTURE Collision Sensor, PIR Motion Sensor MOTION Slide Potentiometer, Rotary Angle Sensor POTENTIOMETER Electromagnet, Relay RELAY Servo Motor SERVO Buzzer, speaker SPEAKER Switch SWITCH Temperature Sensor TEMPERATURE Frequently Asked Questions 137 Breadboard Components Details What are the capabilities of the components in the TI-Innovator™ Breadboard Pack? There are two types of components in the TI-Innovator™ Breadboard pack. - Addressable components, such as LEDs and sensors, that responds to TIInnovator™ Hub commands. Passive components, such as resistors, capacitors, and manual switches that are not directly addressable by the TI-Innovator™ Hub but are required in many breadboard projects. Addressable Components Component Used with pins Description Red LEDs BB 1-10 Light-emitting diode that emits light when current passes through it. Green LEDs BB 1-10 Light-emitting diode that emits light when current passes through it. RGB (RedGreen-Blue) LEDs BB 8-10 Light-emitting diode with independently adjustable red, green and blue elements. Can produce a wide variety of colors. Thermistor BB 5,6,7 (analog input required) Resistor whose resistance changes based on temperature. Used for measurement and control. 7-segment Display BB 1-10 Array of LEDs arranged to display numbers and some alphabetic characters. Also has an LED for a decimal point. Small DC Motor BB 1-10 (uses digital to generate software PWM) Motor that converts direct current electrical power into mechanical power. TTL Power MOSFET BB 1-10 Transistor used for amplifying or switching electronic signals. 138 Image Frequently Asked Questions TI Analog Temperature Sensor BB 5,6,7 (analog input required) Sensor that reports a voltage proportional to the ambient temperature within a range of −55°C to 130°C. Visible Light Sensor BB 5,6,7 (analog input required) Sensor that reports the level of ambient light. Infrared Transmitter LTE-302, yellow dot BB 1-10 (digital output) Side emitting Infrared LED, designed to be paired with the LTR-301 Photo-Transistor. Infrared Receiver LTR-301, red dot BB 1-10 (digital input) Side sensing Infrared photo transistor, designed to be paired with the LTE-302 Infrared Emitter. See also: TI-Innovator™ Hub Ports and Breadboard Usable Pins Frequently Asked Questions 139 Passive Components Component Used with pins Description Resistor 100 Ohm (10) N/A Resistor that provides 100 Ohms of resistance in a circuit. Color Code Value: brown, black, brown. (10X10 = 100) Resistor 1K Ohm (10) N/A Resistor that provides 1K Ohms of resistance in a circuit. Color Code Value: brown, black, red (10X100 = 1,000) Resistor 10K Ohm (10) N/A Resistor that provides 10K Ohms of resistance in a circuit. Color Code Value: brown, black, orange (10X1,000 = 10,000) Resistor 100K Ohm (10) N/A Resister that provides 100K Ohms of resistance in a circuit. Color Code Value: brown, black, yellow (10X10,000 = 100,000) Diode BB 1-10 Allows an electric current to pass in one direction, while blocking current in the opposite direction. SPDT Slide Switch BB 1-10 Single pole, double throw switch. Slide the switch knob back and forth to open and close contacts. 8 Position DIP Switch BB 1-10 Set of 8 slide (digital switches used to input) customize the behavior of the 140 Frequently Asked Questions Image circuit components for specific situations. 8 100 Ohm resistor SIP Package N/A 8 100 Ohm resistor SIP package for use with 8 Position DIP Switch. Potentiometer with Knob BB 5,6,7 Variable resistor with knob used to change the resistance in a circuit.. Capacitor 100µF N/A Capacitor that temporarily stores an electric charge of up to 100µF. Capacitor 10µF N/A Capacitor that temporarily stores an electric charge of up to 10µF. Capacitor 1µF N/A Capacitor that temporarily stores an electric charge of up to 1µF. 40-Pack male/male Breadboard Jumper Cables N/A Male to Male jumper cables for connecting components on the breadboard. 10-Pack male/female Breadboard Jumper Cables N/A Male to female jumper cables for connecting components on the breadboard. Breadboard N/A Platform for connecting the electronic components of a project by inserting component leads and jumper cables into pins. 4-AA Battery Holder N/A 4-AA battery holder with tined solid leads for easy breadboard insertion. Frequently Asked Questions 141 General Information Texas Instruments Support and Service General Information: North and South America Home Page: KnowledgeBase and e-mail inquiries: education.ti.com education.ti.com/support Phone: (800) TI-CARES / (800) 842-2737 For North and South America and U.S. Territories International contact information: education.ti.com/support/worldwide For Technical Support Knowledge Base and support by e-mail: education.ti.com/support or ti-cares@ti.com Phone: (866) 846-2844 For Product (Hardware) Service Customers in the U.S., Canada, Mexico, and U.S. territories: Always contact Texas Instruments Customer Support before returning a product for service. For All Other Countries: For general information For more information about TI products and services, contact TI by e-mail or visit the TI Internet address. E-mail inquiries: Home Page: ti-cares@ti.com education.ti.com Service and Warranty Information For information about the length and terms of the warranty or about product service, refer to the warranty statement enclosed with this product or contact your local Texas Instruments retailer/distributor. General Information 142
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