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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

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Select images were created with Fritzing.
© 2011 - 2017 Texas Instruments Incorporated

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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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"

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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

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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?

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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?

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What are all the LEDs that are built into the TI-Innovator™ Hub?
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What are the full syntax options for the each of the on-board components?
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TI-Innovator™ Rover On-Board Components Details
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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

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.

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

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.

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

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.

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

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.

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

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.

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

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.

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

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.

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

▶

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.

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

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).

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

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).

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

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.

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

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).

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

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.

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

Learn More
To find more troubleshooting information, see the TI-Innovator™ Technology eGuide
(page ii).

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

•

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.

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

Caution: If you dislodge or disconnect any of the cables, use this image as a reference

for correct hookups.
Reference to Bottom View

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

–
–
–
–
–
–
–
–

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

–
–
–

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

eval(
•

Rover (RV)...
–
–
–
–
–
–
–
–
–

CONNECT-Output
LIGHT
COLOR
SOUND
LED
SPEAKER
BUZZER
RELAY
SERVO
SERVO.CONTINUOUS
DCMOTOR
SQUAREWAVE
RGB

–
–
–
–
–
–
–
–
–
–
–
–

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

–

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

–
–
–
–
–
–
–
–
–
–

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

–
•

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

–

TI-Innovator™ Hub Commands version 1.2

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

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

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

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

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

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

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].

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

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

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

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

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

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:

Result:

Stop generating squarewave output.

Type or
Addressable
Component:

Control

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

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:

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:

Result:

Turn off pwm on associated pin, including blinking, etc.

Type or
Addressable
Component:

Control

TI-Innovator™ Hub Commands version 1.2

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:

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

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

TI-Innovator™ Hub Commands version 1.2

BRIGHTNESS AVERAGE
Command:

BRIGHTNESS AVERAGE
Advanced user

Command
Syntax:

READ BRIGHTNESS.AVERAGE

Range:
Describe:

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:

Result:

Read on-board light sensor level.

Type or
Addressable
Component:

Control

TI-Innovator™ Hub Commands version 1.2

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:

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:

Result:

Returns humidity component.

Type or
Addressable
Component:

Sensor

TI-Innovator™ Hub Commands version 1.2

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

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

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:

Result:

Read analog value of light sensor (uses averaging), or I2C (value in LUX

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:

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

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

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

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

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:

Result:

Read analog value of rotary encoder / potentiometer (uses averaging).

Type or
Addressable
Component:

Sensor

TI-Innovator™ Hub Commands version 1.2

POTENTIOMETER i RANGE
Command:

POTENTIOMETER i RANGE

Advanced user
Command
Syntax:

READ POTENTIOMETER i RANGE

Range:
Describe:

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

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

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

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

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.

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

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

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

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

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

Not Applicable

TI-Innovator™ Hub Commands version 1.2

Command:

eval(

Addressable
Component:

TI-Innovator™ Hub Commands version 1.2

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")

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

RV FORWARD
Command:

RV FORWARD

Command
Syntax:

RV FORWARD [[SPEED s] [DISTANCE d] [TIME t]]

Code
Samples:

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.

TI-Innovator™ Hub Commands version 1.2

RV BACKWARD
Command:

RV BACKWARD

Command
Syntax:

RV BACKWARD

Code
Sample:

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

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:

Result:

Turn Rover to the RIGHT.

Type or

Control

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

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)

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

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)

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

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.

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

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,

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

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

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:

Command Syntax:

Code
Sample:

Range:

N/A

Describe:

Result:
Type or
Addressable Component:

Setting

TI-Innovator™ Hub Commands version 1.2

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:

Command
Syntax:

Code
Sample:

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:

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:

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:

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

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

8.76741e-8

2.34125e-4

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

1.33342e-7

2.22468e-4

TI-Innovator™ Hub Commands version 1.2

Command:

THERMISTOR i [TO] IN n/BB n
Description

Value

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:

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

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:

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:

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

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:

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:

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

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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

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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

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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

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TI-Innovator™ Hub Commands version 1.2

DISCONNECT-Input
DISCONNECT breaks the association between a specified control or sensor and the

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:

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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.

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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

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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

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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

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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

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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:

Result:

Disconnect digital input object.

Type or
Addressable
Component:

Control/Sensor

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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.

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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:

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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:

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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:

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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

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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

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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

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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.

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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:

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:

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TI-Innovator™ Hub Commands version 1.2

Command:

COLOR GREEN

Describe:

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:

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

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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

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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

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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

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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

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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

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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

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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:

Result:

Get state of RGB RED component.

Type or
Addressable
Component:

Control

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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

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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

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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

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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:

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

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.

Digital I/O Pulse Width ANALOG IN
Modulation
(PWM)

BB1

BB2

BB3

BB4

BB5

BB6

BB7

BB8

BB9

BB10

200

TI-Innovator™ Hub Data Sheets

TI-Innovator™ Hub On-Board Component Data Sheets
Topic Links

On-Board RGB LED Data Sheet

Title

On-Board RGB LED

TI Item Name

Built into the Hub

Quantity

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

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

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

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

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

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

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

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

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

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

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

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-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.

•

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.

•

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

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"

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

•

Drive RV…
– Send( "RV
– FORWARD
– BACKWARD
– LEFT
– RIGHT
– STOP
– RESUME
– STAY
– TO XY (INACTIVE in v1.2
–
–

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

–
–
–
–
–

•

RV Control…
– Send "
– SET RV.MOTORS
– SET RV.MOTOR.L
– SET RV.MOTOR.R
– SET RV.ENCODERSGYRO
–
–

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

RV FORWARD
Command:

RV FORWARD

Command
Syntax:

RV FORWARD [[SPEED s] [DISTANCE d] [TIME t]]

Code
Samples:

Range:

N/A

Describe:

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:

Range:

N/A

Describe:

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

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:

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:

Result:

Turn Rover to the RIGHT.

Type or

Control

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:

Result:

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

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)

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

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)

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

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.

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

RV Settings...
RV Settings Commands
Settings menu for Rover contains other commands that support RV commands such as
FORWARD or BACKWARD.
•

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.

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

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.
•

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:

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

Command:

RV.WAYPOINT.PREV

Range:

N/A

Describe:

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:

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

TI-Innovator™ Rover Commands version 1.2

Command:

RV.WAYPOINT.CMDNUM
the current waypoint.

Result:

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

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.

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

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

TI-Innovator™ Rover Commands version 1.2

Command:

RV.PATHLIST.CMDNUM

Result:

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

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")

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

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

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

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

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

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"

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

Command:

RV.GRID.M/UNIT

Range:

N/A

Describe:

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]

TI-Innovator™ Rover Commands version 1.2

Command:

RV MARK

Range:

N/A

Describe:

Result:
Type or
Addressable
Component:

Setting (for Rover)

TI-Innovator™ Rover Commands version 1.2

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:

Result:

Both the LEFT and RIGHT motor, managed as a single object for direct

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:

Range:

N/A

Describe:

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:

TI-Innovator™ Rover Commands version 1.2

Command:

SET RV.MOTOR.R

Range:

N/A

Describe:

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

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:

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

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:

Result:

Type or
Addressable
Component:

All components of the Rover - two motors, two encoders, one
gyroscope, one RGB LED and one color sensor.

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:

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

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

TI-Innovator™ Rover – Programmable Component Data Sheets

TI-Innovator™ Rover

Title

TI-Innovator™ Rover Data Sheet

TI Item Name

TI-Innovator™ Rover

Quantity

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

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

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

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

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

TI-Innovator™ Rover On-Board Ultrasonic Ranger Data Sheet

Title

Ultrasonic Ranger

TI Item Name

Built into the Rover

Quantity

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:

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

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

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

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

On-Board Light Brightness Sensor Data Sheet

Title

On-Board Light Brightness Sensor

TI Item Name

Built into the Hub

Quantity

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™ 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

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]

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

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

Rover Commands
Desired Action

Code Sample

as the Hub COLOR
object

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

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

HUB Commands

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

Analog Light Sensor Data Sheet

Title

Analog Light Sensor

TI Item Name

STEMKT/AC/A

Quantity

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:

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

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

HUB Commands

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

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

HUB Commands

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

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

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:

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

Ultrasonic Ranger Data Sheet

Title

Ultrasonic Ranger

TI Item Name

STEMKT/AC/E

Quantity

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:

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

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)

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

Thermistor Data Sheet

Title

Thermistor

TI Item Name

STEMEE/AC/THERM/A

Quantity

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:

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

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

Visible Light Sensor Data Sheet

Title

Visible Light Sensor

TI Item Name

STEMEE/AC/LHTSEN/A

Quantity

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:

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

Green LED Data Sheet

Title

Green LED

TI Item Name

STEMEE/AC/LED/A

Quantity

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")

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

RGB (Red-Green-Blue) LED Data Sheet

Title

RGB (Red-Green-Blue) LED

TI Item Name

STEMEE/AC/LED/B

Quantity

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:

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

Red LED Data Sheet

Title

Red LED

TI Item Name

STEMEE/AC/LED/C

Quantity

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:

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

Diode Data Sheet

Title

Diode

TI Item Name

STEMEE/AC/DIO/A

Quantity

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

TI-Innovator™ Breadboard Data Sheets

7-segment Display Data Sheet

Title

7-segment Display

TI Item Name

STEMEE/AC/DISP/A

Quantity

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

Infrared Receiver Data Sheet

Title

Infrared Receiver

TI Item Name

STEMEE/AC/REC/A

Quantity

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

TI-Innovator™ Breadboard Data Sheets

Infrared Transmitter Data Sheet

Title

Infrared Transmitter

TI Item Name

STEMEE/AC/TRANS/A

Quantity

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

Motors
Small DC Motor Data Sheet

Title

Small DC Motor

TI Item Name

STEMEE/AC/MOTOR/A

Quantity

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

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

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

TI-Innovator™ Breadboard Data Sheets

SPDT Slide Switch Data Sheet

Title

SPDT Slide Switch

TI Item Name

STEMEE/AC/SWIT/A

Quantity

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

8 Position DIP Switch Data Sheet

Title

8 Position DIP Switch

TI Item Name

STEMEE/AC/SWIT/B

Quantity

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

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

8 100 Ohm Resistor SIP Package Data Sheet

Title

8 100 Ohm resistor SIP Package

TI Item Name

STEMEE/AC/RES/E

Quantity

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

TI-Innovator™ Breadboard Data Sheets

TTL Power MOSFET Data Sheet

Title

TTL Power MOSFET

TI Item Name

STEMEE/AC/MOSFET/A

Quantity

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

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")

TI-Innovator™ Breadboard Data Sheets

Passive Components
Topic Links

•

Accessories

•

Breadboard

•

Capacitors

•

Resistors

TI-Innovator™ Breadboard Data Sheets

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

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

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

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

Title

4-AA Battery Holder

Specifications

BHC-341-1A with lead wires 150mm, Strip & Tin: 5mm+/1mm, UL1007, AWG 26

TI-Innovator™ Breadboard Data Sheets

Breadboard Data Sheet

Title

Breadboard

TI Item Name

STEMEE/AC/BRDBD/A

Quantity

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

Capacitors
Capacitor 100µF Data Sheet

Title

Capacitor 100µF

TI Item Name

STEMEE/AC/CAP/A

Quantity

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

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

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

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

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

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

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

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

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

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

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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