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This is the open source firmware for the rero main controller. For advance user who prefers to program the rero in C language, API in this open source firmware can be used.

This firmware is written in C language and must be compiled with XC32 Compiler from Microchip Technology. It's also recommended to develop the firmware in MPLAB X IDE. This firmware is tested and compiled with MPLAB X IDE v3.05 and XC32 v1.34. Newer version might have some problems.

To upload the firmware to the rero main controller, please use the rero Firmware Updater comes together with rero Software and follow these instructions.

Please contact support@rero.io if there is any issue.

Software needed:

• MPLAB X IDE - http://www.microchip.com/pagehandler/en-us/family/mplabx/
• XC32 C Compiler v1.34 - http://ww1.microchip.com/downloads/en/DeviceDoc/xc32-v1.34-full-install-windows-installer.exe
• rero Software - http://rero.io/download

API for Main Controller:

• LED Control
• vTaskDelay

Common API for G15 and Sensor:

• eEMPing
• eEMGetModel
• eEMSetId
• eEMSetAction
• eEMFactoryReset

API for G15 Servo Motor:

• eG15GetPosition
• eG15SetPosition
• eG15SetSpeed
• eG15SetPositionSpeed
• eG15SetLed
• eG15SetTorque
• eG15SetTorqueLed
• eG15GetAngleLimit
• eG15SetAngleLimit
• eG15SetTorqueLimit
• eG15ResetRegister

API for Sensor:

• eSensorSetLed
• eHeadSetLed
• eHeadSetRed
• eHeadSetGreen
• eHeadSetBlue
• eHeadGetIrValue
• eHeadGetMicValue
• eInfraredSensorGetValue
• eUltrasonicSensorGetValue
• eTactileSensorGetValue
• eLineSensorGetAnalog
• eLineSensorGetDigital
• eLineSensorGetDarkLight
• eLineSensorSetDarkLight
• eLineSensorSetAutoCal
• eColourSensorGetRgb
• eColourSensorGetBrightness
• eColourSensorGetAmbient
• eColourSensorGetColour