ofArduino

class methods

variables

This is a way to control an Arduino that has had the firmata library loaded onto it, from OF. To load firmata onto your Arduino, run the Arduino IDE, open the Examples > Firmata > StandardFirmata sketch, and upload it to the Arduino board. Once the ofArduino instance returns true from isArduinoReady() you can set the mode of the different digital pins using sendDigitalPinMode()

sendDigitalPinMode(9, ARD_INPUT)

This sets pin 9 to input so that it can read a button press, while:

sendDigitalPinMode(9, ARD_PWM)

sets pin 9 to be a PWM out pin. Note that this only works on pins that are PWM enabled.

attachEncoder(...)

void ofArduino::attachEncoder(int pinA, int pinB)

Documentation from code comments


} \name Encoder {

connect(...)

bool ofArduino::connect(const string &device, int baud=57600)

opens a serial port connection to the arduino

Documentation from code comments


Opens a serial port connection to the arduino

Parameters:

device The name of the device. You can get the name from the Arduino IDE

baud The baud rate the connection uses

detachEncoder(...)

void ofArduino::detachEncoder(int encoderNum)

disableEncoderReporting()

void ofArduino::disableEncoderReporting()

disconnect()

void ofArduino::disconnect()

closes the serial port connection. Does not turn the Arduino off.

enableEncoderReporting()

void ofArduino::enableEncoderReporting()

getAllEncoderPositions()

void ofArduino::getAllEncoderPositions()

getAnalog(...)

int ofArduino::getAnalog(int pin)

Returns the analog in value that the pin is currently reading. because the Arduino has a 10 bit ADC you get between 0 and 1023 for possible values.

getAnalogPinReporting(...)

int ofArduino::getAnalogPinReporting(int pin)

returns ARD_ON, ARD_OFF

Documentation from code comments


Returns: ARD_ON or ARD_OFF

getDigital(...)

int ofArduino::getDigital(int pin)

On the Arduino Uno pin: 2-13 returns the last received value (if the pin mode is ARD_INPUT) or the last set value (if the pin mode is ARD_OUTPUT) for the given pin Note: pin 16-21 can also be used if analog inputs 0-5 are used as digital pins Returns whether the pin is reading high or low, 1 or 0. You can test against this with an if() statement which is handy:

if(arduino.getDigital(pin)){
    // do something on high
}else{
    // do something on low
}

Documentation from code comments


Returns the last received value (if the pin mode is ARD_INPUT) or the last set value (if the pin mode is ARD_OUTPUT) for the given pin

Returns whether the pin is reading high or low, 1 or 0. You can test against this with an if() statement which is handy:

    if(arduino.getDigital(pin)){
        // do something on high
    } else {
        // do something on low
    }

\note Pin 16-21 can also be used if analog inputs 0-5 are used as digital pins

getDigitalPinMode(...)

int ofArduino::getDigitalPinMode(int pin)

returns ARD_INPUT, ARD_OUTPUT, ARD_PWM, ARD_SERVO, ARD_ANALOG

Documentation from code comments


Get the pin mode of the given pin

Returns: ARD_INPUT, ARD_OUTPUT, ARD_PWM, ARD_SERVO, ARD_ANALOG

getEncoderPosition(...)

void ofArduino::getEncoderPosition(int encoderNum)

getInvertedValueFromTwo7bitBytes(...)

int ofArduino::getInvertedValueFromTwo7bitBytes(unsigned char lsb, unsigned char msb)

getNumAnalogPins()

int ofArduino::getNumAnalogPins()

getPinCapabilities()

int ofArduino::getPinCapabilities()

getPwm(...)

int ofArduino::getPwm(int pin)

On the Arduino Uno pin: 3, 5, 6, 9, 10 and 11 returns the last set PWM value (0-255) for the given pin the pins mode has to be ARD_PWM Note: pin 16-21 can also be used if analog inputs 0-5 are used as digital pins

Documentation from code comments


Returns the last set PWM value (0-255) for the given pin

The pins mode has to be ARD_PWM

On the Arduino Uno the following pins are supported: 3, 5, 6, 9, 10 and 11 \note Pin 16-21 can also be used if analog inputs 0-5 are used as digital pins

getString()

string ofArduino::getString()

returns the last received string

getTotalPins()

int ofArduino::getTotalPins()

isArduinoReady()

bool ofArduino::isArduinoReady()

isAttached()

bool ofArduino::isAttached()

isI2CConfigured()

bool ofArduino::isI2CConfigured()

isInitialized()

bool ofArduino::isInitialized()

returns true if a succesfull connection has been established and the Arduino has reported a firmware

resetEncoderPosition(...)

void ofArduino::resetEncoderPosition(int encoderNum)

sendAnalogMappingRequest()

void ofArduino::sendAnalogMappingRequest()

sendAnalogPinReporting(...)

void ofArduino::sendAnalogPinReporting(int pin, int mode)

sendByte(...)

void ofArduino::sendByte(unsigned char byte)

sends a byte without wrapping it in a firmata message, data has to be in the 0-127 range, values > 127 will be interpreted as commands.

sendDigital(...)

void ofArduino::sendDigital(int pin, int value, bool force=false)

Documentation from code comments


} \name Senders {

sendDigitalPinMode(...)

void ofArduino::sendDigitalPinMode(int pin, int mode)

On the Arduino Uno pin: 2-13 mode: ARD_INPUT, ARD_OUTPUT, ARD_PWM setting a pins mode to ARD_INPUT turns on reporting for the port the pin is on Note: analog pins 0-5 can be used as digitial pins 16-21 but if the mode of one of these pins is set to ARD_INPUT then all analog pin reporting will be turned off

Documentation from code comments


Setting a pins mode to ARD_INPUT turns on reporting for the port the pin is on

Parameters:

pin Pin on arduino (2-13)

mode ARD_INPUT, ARD_OUTPUT, ARD_PWM \note Analog pins 0-5 can be used as digitial pins 16-21 but if the mode of one of these pins is set to ARD_INPUT then all analog pin reporting will be turned off

sendI2CConfig(...)

void ofArduino::sendI2CConfig(int delay)

Documentation from code comments


Sends a I2C config request

Must be called before an I2C Read or Write

Parameters:

{number} delay in microseconds to set for I2C Read

sendI2CReadRequest(...)

void ofArduino::sendI2CReadRequest(char address, int numBytes, int reg)

Documentation from code comments


Asks the arduino to request bytes from an I2C device

Parameters:

{number} slaveAddress The address of the I2C device

{number} numBytes The number of bytes to receive.

{function} callback A function to call when we have received the bytes.

sendI2CWriteRequest(...)

void ofArduino::sendI2CWriteRequest(char slaveAddress, char *bytes, int numOfBytes, int reg)

sendI2CWriteRequest(...)

void ofArduino::sendI2CWriteRequest(char slaveAddress, const char *bytes, int numOfBytes, int reg)

sendI2CWriteRequest(...)

void ofArduino::sendI2CWriteRequest(char slaveAddress, int bytes, int reg)

sendI2CWriteRequest(...)

void ofArduino::sendI2CWriteRequest(char slaveAddress, unsigned char *bytes, int numOfBytes, int reg)

Documentation from code comments


Asks the arduino to send an I2C request to a device

Parameters:

{number} slaveAddress The address of the I2C device

{Array} bytes The bytes to send to the device

sendI2ContinuousReadRequest(...)

void ofArduino::sendI2ContinuousReadRequest(char address, int numBytes, int reg)

Documentation from code comments


Initialize a continuous I2C read.

Parameters:

{number} address The address of the I2C device

{number} register Optionally set the register to read from.

{number} numBytes The number of bytes to receive.

sendOneWireAlarmsSearch(...)

void ofArduino::sendOneWireAlarmsSearch(int pin)

Documentation from code comments


Searches for 1-wire devices on the bus in an alarmed state.

Parameters:

pin

sendOneWireConfig(...)

void ofArduino::sendOneWireConfig(int pin, bool enableParasiticPower)

Documentation from code comments


Configure the passed pin as the controller in a 1-wire bus.

Pass as enableParasiticPower true if you want the data pin to power the bus.

Parameters:

pin

enableParasiticPower

sendOneWireDelay(...)

void ofArduino::sendOneWireDelay(int pin, unsigned int delay)

Documentation from code comments


Tells firmata to not do anything for the passed amount of ms.

For when you need to give a device attached to the bus time to do a calculation.

Parameters:

pin

sendOneWireRead(...)

void ofArduino::sendOneWireRead(int pin, int devices, int numBytesToRead)

Documentation from code comments


Reads data from a device on the bus.

N.b. ConfigurableFirmata will issue the 1-wire select command internally.

Parameters:

pin

device

numBytesToRead

callback

sendOneWireRequest(...)

void ofArduino::sendOneWireRequest(int pin, unsigned char subcommand, int devices, int numBytesToRead, unsigned char correlationId, unsigned int delay, int dataToWrite)

sendOneWireReset(...)

void ofArduino::sendOneWireReset(int pin)

Documentation from code comments


Resets all devices on the bus.

Parameters:

pin

sendOneWireSearch(...)

void ofArduino::sendOneWireSearch(char type, int pin)

sendOneWireSearch(...)

void ofArduino::sendOneWireSearch(int pin)

Documentation from code comments


Searches for 1-wire devices on the bus.

Parameters:

pin

sendOneWireWrite(...)

void ofArduino::sendOneWireWrite(int pin, int devices, int data)

Documentation from code comments


Writes data to the bus to be received by the passed device.

The device should be obtained from a previous call to sendOneWireSearch. ConfigurableFirmata will issue the 1-wire select command internally.

Parameters:

pin

device

data

sendOneWireWriteAndRead(...)

void ofArduino::sendOneWireWriteAndRead(int pin, int devices, int data, int numBytesToRead)

Documentation from code comments


Sends the passed data to the passed device on the bus, reads the specified number of bytes.

ConfigurableFirmata will issue the 1-wire select command internally.

Parameters:

pin

device

data

numBytesToRead

callback

sendPinCapabilityRequest()

void ofArduino::sendPinCapabilityRequest()

sendPinCofigurationRequest()

void ofArduino::sendPinCofigurationRequest()

sendPinStateQuery(...)

void ofArduino::sendPinStateQuery(int pin)

sendPwm(...)

void ofArduino::sendPwm(int pin, int value, bool force=false)

On the Uno this will work on pins: 3, 5, 6, 9, 10 and 11 value: 0 (always off) to 255 (always on). the pins mode has to be set to ARD_PWM TODO check if the PWM bug still is there causing frequent digital port reporting...

sendReset()

void ofArduino::sendReset()

This will cause your Arduino to reset and boot into the program again.

sendSerialConfig(...)

void ofArduino::sendSerialConfig(Firmata_Serial_Ports portID, int baud, int rxPin, int txPin)

Documentation from code comments


Asks the Arduino to configure a hardware or serial port.

Parameters:

portID The serial port to use (HW_SERIAL1, HW_SERIAL2, HW_SERIAL3, SW_SERIAL0, SW_SERIAL1, SW_SERIAL2, SW_SERIAL3)

baud The baud rate of the serial port

rxPin [SW Serial only] The RX pin of the SoftwareSerial instance

txPin [SW Serial only] The TX pin of the SoftwareSerial instance

sendStepper2Wire(...)

void ofArduino::sendStepper2Wire(int dirPin, int stepPin, int stepsPerRev=200)

Documentation from code comments


-- stepper

sendStepper4Wire(...)

void ofArduino::sendStepper4Wire(int pin1, int pin2, int pin3, int pin4, int stepsPerRev=200)

Documentation from code comments


the pins has to have a stepper attached

sendStepperMove(...)

void ofArduino::sendStepperMove(int stepperID, int direction, int steps, int speed=0, float acceleration, float deceleration)

Documentation from code comments


the pins has to have a stepper attached

sendString(...)

void ofArduino::sendString(string str)

firmata can not handle strings longer than 12 characters.

Documentation from code comments


Send a string to the Arduino \note Firmata can not handle strings longer than 12 characters.

serialClose(...)

void ofArduino::serialClose(Firmata_Serial_Ports portID)

Documentation from code comments


Close the specified serial port.

Parameters:

portId The serial port to close.

serialFlush(...)

void ofArduino::serialFlush(Firmata_Serial_Ports portID)

Documentation from code comments


Flush the specified serial port.

For hardware serial, this waits for the transmission of outgoing serial data to complete.For software serial, this removed any buffered incoming serial data.

Parameters:

portId The serial port to listen on.

serialListen(...)

void ofArduino::serialListen(Firmata_Serial_Ports portID)

Documentation from code comments


For SoftwareSerial only. Only a single SoftwareSerial instance can read data at a time.

Call this method to set this port to be the reading port in the case there are multiple SoftwareSerial instances.

Parameters:

portId The serial port to flush.

serialRead(...)

void ofArduino::serialRead(Firmata_Serial_Ports port, int maxBytesToRead)

Documentation from code comments


Start continuous reading of the specified serial port.

The port is checked for data each iteration of the main Arduino loop.

Parameters:

portId The serial port to start reading continuously.

maxBytesToRead [Optional] The maximum number of bytes to read per iteration. \note If there are less bytes in the buffer, the lesser number of bytes will be returned. A value of 0 indicates that all available bytes in the buffer should be read.

serialStop(...)

void ofArduino::serialStop(Firmata_Serial_Ports portID)

Documentation from code comments


Stop continuous reading of the specified serial port.

This does not close the port, it stops reading it but keeps the port open.

Parameters:

portId The serial port to stop reading.

serialWrite(...)

void ofArduino::serialWrite(Firmata_Serial_Ports port, unsigned char *bytes, int numOfBytes)

Documentation from code comments


Write an array of bytes to the specified serial port.

Parameters:

portId The serial port to write to.

bytes An array of bytes to write to the serial port.

numOfBytes length of the array of bytes.

setUseDelay(...)

void ofArduino::setUseDelay(bool bDelay)

update()

void ofArduino::update()

polls data from the serial port, this has to be called periodically

int EEncoderDataReceived

int ofArduino::EEncoderDataReceived

int EI2CDataRecieved

int ofArduino::EI2CDataRecieved

int EPinStateResponseReceived

int ofArduino::EPinStateResponseReceived

int ESerialDataReceived

int ofArduino::ESerialDataReceived

int EStepperDataReceived

int ofArduino::EStepperDataReceived

If you have any doubt about the usage of this module you can ask in the forum.

If you want to contribute better documentation or start documenting this section you can do so here

If you find anything wrong with this docs you can report any error by opening an issue