1. Getting Started

Before start programming the rero in C language, please download a copy of the source code to your computer. Please also make sure that MPLAB X IDE and XC32 Compiler have been installed. After that, open the project with the MPLAB X IDE.

In most condition, only 2 files (UserProgram.c and UserProgram.h) need to be modified to run the custom user program on rero main controller. Just follow these simple steps to start programming the rero in C language.

1. Open the "UserProgram.h" and uncomment the line #define RUN_USER_PROGRAM.

    /**************************************************************************
     * PUBLIC CONSTANT DEFINITION
     **************************************************************************/
    
    #define RUN_USER_PROGRAM
   

2. After that, you may start writting your own program in the function void taskUserProgram(void *pvParameters) in file "UserProgram.c".

    /**************************************************************************
    * TASK: taskBluetoothProgram
    *
    * DESCRIPTIONS:
    * Task for the bluetooth programming.
    *
    **************************************************************************/
    void taskUserProgram(void *pvParameters)
    {
        // Set the G15 angle limit (0 - 1087).
        eG15SetAngleLimit(11, 0, 1087);
    
        // Turn on torque for G15.
        eG15SetTorqueLed(11, WRITE_NOW, 1, 1);
    
        
        // Loop forever.
        while (1) {
            // Read from IR sensor.
            unsigned char ucSensorValue;
            eInfraredSensorGetValue(101, &ucSensorValue);
    
            // Set the G15 position according to the sensor value.
            eG15SetPositionSpeed( 11, WRITE_NOW, ucSensorValue,
                                  NORMAL_POSITIONING, 0, POSITION_SPEED_CONTROL);
    
            // Delay for 50ms.
            vTaskDelay(50 / portTICK_RATE_MS);
        }
        
    }
   

3. Compile the source code and upload the .hex file to the rero main controller using the rero Firmware Updater. The .hex file is located in folder ..\Rero Main Controller Firmware.X\dist\default\production.

4. Power up the main controller and wait until the main menu is loaded. Press the "C PROGRAM" button to enter the custom C program page.

5. Press the play button to run the user program. Press the stop button to stop it.