6. extras Module

Defines public functions and classes not part of the CMSIS driver library.

class robovero.extras.Array(length, size, values=[])

Bases: object

Allocates and initializes an array in RoboVero RAM.

robovero.extras.IMUInit()

Enable IMU by pulling IMU_EN low

robovero.extras.IMUReset()

Reset IMU by pulling IMU_EN high and then low

robovero.extras.heartbeatOff()

Let user control the onboard LED.

robovero.extras.heartbeatOn()

Flash the onboard LED.

robovero.extras.initMatch(ch, count)

Initialize a PWM match condition.

robovero.extras.registerCallback(IRQn, function)

Register a RoboVero interrupt service routine.

Args:

• IRQn(int): Interrupt number
• function(function): A pointer to the function that is called when an interrupt occurs

robovero.extras.roboveroConfig()

Configure the microcontroller pin select registers according to the labels on the RoboVero board.