quinta-feira, 9 de junho de 2022

U-BLOX NINA B302 (VISUINO - BLE 33 SENSE) SEGUIDOR DE LINHA COM L298

 U-BLOX NINA B302 (VISUINO -  BLE 33 SENSE) SEGUIDOR DE LINHA COM L298


O objetivo deste BLOG é mostrar como é possível programar o NINA B302 para que possa ter utilizado como um ARDUINO BLE 33 SENSE, mas com um custo reduzido, ou seja, você não precisa colocar todos os sensores.

Neste projeto, o NINA B302 controlará um robô seguidor de linha, através do acionamento de 2 drivers de motor DC chamados de L298.

"Basicamente, lerá o valor o valor de 3 sensores infrared apontados para mesa, os quais detectarão a presença de fita isolante e assim mandará sinais paa o s motores via L298"





Para a implementação, foi utilizado a nova versão do Software VISUINO o qual recentemente incluiu o BLE 33 SENSE.

l298

Descrição

Este driver é baseado no circuito tipo ponte H e é dedicado para controle de motor DC. O mesmo possui dois canais e permite controlar velocidade e sentido de rotação de até dois motores ao mesmo tempo.


Possuí terminais parafusáveis furos nas extremidades da placa para fixação ao protótipo.
Output A: conexão do Motor 1.Output B: conexão do Motor 2.- +5v: A placa possui um regulador de tensão 5v  integrado, e este regulador pode ser acionado pelo jumper “5v enable” caso a alimentação da placa seja de 7V - 35V.- Input: quatro entradas de controle In1, In2, In3 e In4.


  • In 1: PWM para a velocidade do motor 1.


  • In 2: Sinal digital para sentido de rotação do motor 1 (nível 0 > horário e nível 1 anti-horário).


  • In 3: PWM para a velocidade do motor 2.


  • In 4: Sinal digital para sentido de rotação do motor 2 (nível 0 > horário e nível 1 anti-horário).




  • VISUINO

    Visuino é o mais recente software inovador da Mitov Software. Um ambiente de programação visual que permite programar suas placas Arduino. ... Os componentes encontrados no software Visuino representam seus componentes de hardware e você poderá criar e projetar facilmente seus programas usando arrastar e soltar.

    http://www.visuino.com/



    Dentro do VISUINO, escolha o BLE 33 SENSE


    Como podes observar, o módulo já tem a INTERFACE para os sensores do BLE NANO 33 sense, basta ligá-los, seguindo o esquema 



    Como transferir o programa para o seu NINA B302 ?

    Montamos então uma placa com NINA B302 conforme figura abaixo:



    O esquema elétrico é este




    Algumas características do Kit

    -Botão de RESET;
    -Botão de BOOTLOADER (W102)
    -Plugável no PROTOBOARD;
    -Acesso às várias GPIOS;

    Pequena 

    72mmX21mm


    Muito fácil de utilizar.

    Use o gravador SEGGER JLINK para gravar o BREAKOUT com módulo NINA B112 e B302, conecte nos pinos do SWCLK (pino 7) e SWDIO (pino 9) do SEGGER JLINK nos pinos  SWDCLK e SWDIO do BREAKOUT (pinos nas laterais, próximo à antena). Não esquecer de ligar os GND do BREAKOUT no GND do SEGGER JTAG, bem como alimentar o BREAKOUT com 3.3V.



    Ligue os pinos SWD DIO e CLK ...
    ...nestes pinos da placa BREAKOUT


    Você pode também usar o ST-LINK V2



    Com o software da SEGGER, gravei o BOOTLOADER do NINA BLE 33 SENSE.





    Conecte na USB o NINA B302 e você verá uma COMM virtual


    Aqui tem-se um projeto no VISUINO que manda um Hello!!! a cada 1 segundo pela UART (USB)


    Compilando (seja paciente, é baseado no Mbed compiler)


    Gravando

    Executando



    Altere o 
    variant.cpp 
    C:\Users\Usuario\AppData\Local\Arduino15\packages\arduino\hardware\mbed\2.6.1\variants\ARDUINO_NANO33BLE
    para

    #include "Arduino.h" #include "pinDefinitions.h" /* wiring_analog variables definition */ /* Flag to indicate whether the ADC config has been changed from the default one */ bool isAdcConfigChanged = false; /* * Configuration used for all the active ADC channels, it is initialized with the mbed default values * When it is changed, all the ADC channels are reconfigured accordingly */ analogin_config_t adcCurrentConfig = { .resistor_p = NRF_SAADC_RESISTOR_DISABLED, .resistor_n = NRF_SAADC_RESISTOR_DISABLED, .gain = NRF_SAADC_GAIN1_4, .reference = NRF_SAADC_REFERENCE_VDD4, .acq_time = NRF_SAADC_ACQTIME_10US, .mode = NRF_SAADC_MODE_SINGLE_ENDED, .burst = NRF_SAADC_BURST_DISABLED, .pin_p = NRF_SAADC_INPUT_DISABLED, .pin_n = NRF_SAADC_INPUT_DISABLED }; void analogReference(uint8_t mode) { nrf_saadc_reference_t reference = NRF_SAADC_REFERENCE_VDD4; nrf_saadc_gain_t gain = NRF_SAADC_GAIN1_4; if (mode == AR_VDD) { reference = NRF_SAADC_REFERENCE_VDD4; gain = NRF_SAADC_GAIN1_4; } else if (mode == AR_INTERNAL) { reference = NRF_SAADC_REFERENCE_INTERNAL; gain = NRF_SAADC_GAIN1; } else if (mode == AR_INTERNAL1V2) { reference = NRF_SAADC_REFERENCE_INTERNAL; gain = NRF_SAADC_GAIN1_2; } else if (mode == AR_INTERNAL2V4) { reference = NRF_SAADC_REFERENCE_INTERNAL; gain = NRF_SAADC_GAIN1_4; } adcCurrentConfig.reference = reference; adcCurrentConfig.gain = gain; analogUpdate(); } void analogAcquisitionTime(uint8_t time) { nrf_saadc_acqtime_t acqTime = NRF_SAADC_ACQTIME_10US; if (time == AT_3_US) { acqTime = NRF_SAADC_ACQTIME_3US; } else if (time == AT_5_US) { acqTime = NRF_SAADC_ACQTIME_5US; } else if (time == AT_10_US) { acqTime = NRF_SAADC_ACQTIME_10US; } else if (time == AT_15_US) { acqTime = NRF_SAADC_ACQTIME_15US; } else if (time == AT_20_US) { acqTime = NRF_SAADC_ACQTIME_20US; } else if (time == AT_40_US) { acqTime = NRF_SAADC_ACQTIME_40US; } adcCurrentConfig.acq_time = acqTime; analogUpdate(); } AnalogPinDescription g_AAnalogPinDescription[] = { // A0 - A7 { P0_4, NULL }, // A0 { P0_5, NULL }, // A1 { P0_30, NULL }, // A2 { P0_29, NULL }, // A3 { P0_31, NULL }, // A4/SDA { P0_2, NULL }, // A5/SCL { P0_28, NULL }, // A6 { P0_3, NULL } // A7 }; PinDescription g_APinDescription[] = { // D0 - D7 { P1_3, NULL, NULL, NULL }, // D0/TX { P1_10, NULL, NULL, NULL }, // D1/RX { P1_11, NULL, NULL, NULL }, // D2 { P1_12, NULL, NULL, NULL }, // D3 { P1_15, NULL, NULL, NULL }, // D4 { P1_13, NULL, NULL, NULL }, // D5 { P1_14, NULL, NULL, NULL }, // D6 { P0_23, NULL, NULL, NULL }, // D7 // D8 - D13 { P0_21, NULL, NULL, NULL }, // D8 { P0_27, NULL, NULL, NULL }, // D9 { P1_2, NULL, NULL, NULL }, // D10 { P1_1, NULL, NULL, NULL }, // D11/MOSI { P1_8, NULL, NULL, NULL }, // D12/MISO { P0_13, NULL, NULL, NULL }, // D13/SCK/LED // A0 - A7 { P0_4, NULL, NULL, NULL }, // A0 { P0_5, NULL, NULL, NULL }, // A1 { P0_30, NULL, NULL, NULL }, // A2 { P0_29, NULL, NULL, NULL }, // A3 { P0_31, NULL, NULL, NULL }, // A4/SDA { P0_2, NULL, NULL, NULL }, // A5/SCL { P0_28, NULL, NULL, NULL }, // A6 { P0_3, NULL, NULL, NULL }, // A7 // LEDs { P0_24, NULL, NULL, NULL }, // LED R { P0_16, NULL, NULL, NULL }, // LED G { P0_6, NULL, NULL, NULL }, // LED B { P1_9, NULL, NULL, NULL }, // LED PWR { P0_19, NULL, NULL, NULL }, // INT APDS // PDM { P0_17, NULL, NULL, NULL }, // PDM PWR { P0_26, NULL, NULL, NULL }, // PDM CLK { P0_25, NULL, NULL, NULL }, // PDM DIN // Internal I2C { P0_14, NULL, NULL, NULL }, // SDA2 { P0_15, NULL, NULL, NULL }, // SCL2 // Internal I2C { P1_0, NULL, NULL, NULL }, // I2C_PULL { P0_22, NULL, NULL, NULL }, // VDD_ENV_ENABLE // Extras Gpios { P0_23, NULL, NULL, NULL }, //IO47 { P0_21, NULL, NULL, NULL }, //IO48 { P0_20, NULL, NULL, NULL }, //IO50 { P0_7, NULL, NULL, NULL }, //IO45 { P0_12, NULL, NULL, NULL }, //IO46 { P0_11, NULL, NULL, NULL } //IO32 }; extern "C" { unsigned int PINCOUNT_fn() { return (sizeof(g_APinDescription) / sizeof(g_APinDescription[0])); } } #include "nrf_rtc.h" #include "nrf_uarte.h" #include "nrf_uart.h"
    void initVariant() { // turn power LED on pinMode(LED_PWR, OUTPUT); digitalWrite(LED_PWR, HIGH); // Errata Nano33BLE - I2C pullup is controlled by the SWO pin. // Configure the TRACEMUX to disable routing SWO signal to pin. NRF_CLOCK->TRACECONFIG = 0; // FIXME: bootloader enables interrupt on COMPARE[0], which we don't handle // Disable it here to avoid getting stuck when OVERFLOW irq is triggered nrf_rtc_event_disable(NRF_RTC1, NRF_RTC_INT_COMPARE0_MASK); nrf_rtc_int_disable(NRF_RTC1, NRF_RTC_INT_COMPARE0_MASK); // FIXME: always enable I2C pullup and power @startup // Change for maximum powersave pinMode(PIN_ENABLE_SENSORS_3V3, OUTPUT); pinMode(PIN_ENABLE_I2C_PULLUP, OUTPUT); digitalWrite(PIN_ENABLE_SENSORS_3V3, HIGH); digitalWrite(PIN_ENABLE_I2C_PULLUP, HIGH); // Disable UARTE0 which is initially enabled by the bootloader nrf_uarte_task_trigger(NRF_UARTE0, NRF_UARTE_TASK_STOPRX); while (!nrf_uarte_event_check(NRF_UARTE0, NRF_UARTE_EVENT_RXTO)) ; NRF_UARTE0->ENABLE = 0; NRF_UART0->ENABLE = 0; NRF_PWM_Type* PWM[] = { NRF_PWM0, NRF_PWM1, NRF_PWM2 #ifdef NRF_PWM3 ,NRF_PWM3 #endif }; for (unsigned int i = 0; i < (sizeof(PWM)/sizeof(PWM[0])); i++) { PWM[i]->ENABLE = 0; PWM[i]->PSEL.OUT[0] = 0xFFFFFFFFUL; } } #ifdef SERIAL_CDC static void utox8(uint32_t val, uint8_t* s) { for (int i = 0; i < 16; i=i+2) { int d = val & 0XF; val = (val >> 4); s[15 - i -1] = d > 9 ? 'A' + d - 10 : '0' + d; s[15 - i] = '\0'; } } uint8_t getUniqueSerialNumber(uint8_t* name) { #define SERIAL_NUMBER_WORD_0 NRF_FICR->DEVICEADDR[1] #define SERIAL_NUMBER_WORD_1 NRF_FICR->DEVICEADDR[0] utox8(SERIAL_NUMBER_WORD_0, &name[0]); utox8(SERIAL_NUMBER_WORD_1, &name[16]); return 32; } void _ontouch1200bps_() { __disable_irq(); NRF_POWER->GPREGRET = DFU_MAGIC_SERIAL_ONLY_RESET; NVIC_SystemReset(); }


    Altere o 
    Mitov.Boards.Arduino.Nano33.vcomp
    para e tenha visualmente os GPIO (IO_XX) do módulo U-BLOX NINA B302.

    Mitov
    //---------------------------------------------------------------------------
      [PersistentCollection( TArduinoNano33BluetoothLEModuleOperations )]
      [ArduinoHelpPostfix( '(Nano 33 BLE Operations)' )]
      [ArduinoDeclaredClass]
      TArduinoNano33BluetoothLEModuleOperation : TArduinoCodePersistent;
    //---------------------------------------------------------------------------
      [Name( 'Search Bluetooth Devices' )]
      [CreateName( 'Search Devices' )]
      [ArduinoInclude( 'Mitov_ArduinoNano33_BLE_Scan.h' )]
      [ArduinoClass( 'Mitov::ArduinoNano33ModuleScanBLEOperation' )]
      [ArduinoStart]
      [ParentImage( TArduinoESP32BluetoothLEModuleScanOperation )]
      +TArduinoNano33BluetoothLEModuleScanOperation : TArduinoNano33BluetoothLEModuleOperation

        LocalNameOutputPin : TOWArduinoStringSourcePin
        DeviceNameOutputPin : TOWArduinoStringSourcePin

        [Name( 'MAC Address' )]
        MACAddressOutputPin : TOWArduinoStringSourcePin

        SignalStrengthOutputPin : TOWArduinoIntegerSourcePin
        AppearanceOutputPin : TOWArduinoIntegerSourcePin

        Enabled : Boolean = True

      ;
    //---------------------------------------------------------------------------
      [ArduinoDeclarationSectionName( 'BoardDeclarations' )]
      [PersistentCollection( TArduinoNano33BluetoothLERemoteDevices )]
      [ArduinoHelpPostfix( '(Nano 33 BLE Remote Devices)' )]
      [ArduinoDeclaredClass]
      [Name( 'Remote BLE Device' )]
      [CreateName( 'Remote BLE Device' )]
      [ArduinoInclude( 'Mitov_ArduinoNano33_BLE_Client.h' )]
      [ArduinoClass( 'Mitov::ArduinoNano33BluetoothLERemoteDevice' )]
      [ParentImage( TArduinoESP32BluetoothLERemoteDevice )]
      [ArduinoInit]
      [ArduinoLoopBegin]
      +TArduinoNano33BluetoothLERemoteDevice : TArduinoBasicNamedExludePersistent

        OutputPin : TOWArduinoBLEClientSourcePin
        DeviceNameOutputPin : TOWArduinoStringSourcePin

        [Name( 'MAC Address' )]
        MACAddressOutputPin : TOWArduinoStringSourcePin

        [ArduinoTemplateParameterCollectionCount]
        DeviceIDs : TArduinoNano33BluetoothLERemoteDeviceIDs

        [Name( 'BLE Client Serial' )]
        Serial : TArduinoBluetoothUartClient

      ;
    //---------------------------------------------------------------------------
      [TArduinoNano33DeviceFoundCallChain]
      TArduinoNano33BluetoothLERemoteDeviceIDs : TArduinoPersistentCollection;
    //---------------------------------------------------------------------------
      [ArduinoHelpPostfix( '(Nano 33 BLE Remote Device IDs)' )]
      [PersistentCollection( TArduinoNano33BluetoothLERemoteDeviceIDs )]
      [Name( 'Device' )]
      [CreateName( 'Device' )]
      [ArduinoClass( 'Mitov::ArduinoNano33BluetoothLERemoteDeviceID' )]
      [ArduinoDeclaredClass]
      [ArduinoOwnerTemplateTypeAndReference]
      [ParentImage( TArduinoESP32BluetoothLERemoteDeviceID )]
      +TArduinoNano33BluetoothLERemoteDeviceID : TArduinoCodePersistent

        Name : String = ''
        MACAddress : TArduinoMacAddress
        ServiceUUID  : String = ''

      ;
    //---------------------------------------------------------------------------
      [ArduinoPopulatedCallChainParameter( 'BLEDevice &', 'ADevice' )]
      [Name( 'DeviceFound' )]
      TArduinoNano33DeviceFoundCallChainAttribute : ArduinoCallChainCompleteAttribute;
    //---------------------------------------------------------------------------
      [ArduinoPopulatedCallChainParameter( 'bool &', 'ANeeds' )]
      [Name( 'NeedsScan' )]
      TArduinoNano33NeedsScanCallChainAttribute : ArduinoCallChainCompleteAttribute;
    //---------------------------------------------------------------------------
      [Name( 'Nordic' )]
      [Category( TArduinoCategory )]
      [AlternateCategory( TNordicCategory )]
      [ParentImage( TNordicCategory )]
      TArduinoNordicCategory : TClassCategory;
    //---------------------------------------------------------------------------
      [Name( 'Microphone' )]
      [CreateName( 'Microphone' )]
      [ArduinoInclude( 'PDM.h' )]
      [ArduinoInclude( 'Mitov_Nano33Sense_Microphone.h' )]
      [ArduinoClass( 'Mitov::MicrophoneNano33Sense' )]
      [ArduinoStart]
      [ArduinoLoopBegin]
      [ArduinoExcludeUnconnectedAndDefault]
      [ParentImage( TArduinoBasicAnalogMicrophone )]
      [ArduinoTemplateParameter( 'SampleRate', 'Mitov::ConstantProperty<33, uint32_t, 16000 >' )]
      +TArduinoNano33MicrophoneModule : TArduinoEnableShield

        [OWPrimaryPin]
        OutputPin : TOWArduinoAnalogArraySourcePin

        [ArduinoUseBindingCheckSetter( 'UpdateEnabled' )]
        Enabled

        [ValueRange( 1, 4096 )]
        [OWExcludeBindings]
        [ArduinoUseBindingCheckSetter( 'UpdateBufferSize' )]
        BufferSize : Unsigned = 256

        [ValueRange( 0.0, 1.0 )]
        [ArduinoUseBindingCheckSetter( 'UpdateGain' )]
        Gain : Single = 0.078

      ;
    //---------------------------------------------------------------------------
      [TArduinoNano33DeviceFoundCallChain]
      [TArduinoNano33NeedsScanCallChain]
      TArduinoNano33BluetoothLERemoteDevices : TArduinoPersistentCollection;
    //---------------------------------------------------------------------------
      [TArduinoNano33NeedsScanCallChain]
      [TArduinoNano33DeviceFoundCallChain]
      TArduinoNano33BluetoothLEModuleOperations : TArduinoPersistentCollection;
    //---------------------------------------------------------------------------
      [ArduinoDeclarationSectionName( 'BoardDeclarations' )]
      [ArduinoDeclaredClass]
      [ArduinoInclude( 'Mitov_ArduinoNano33_BLE_Server.h' )]
      [ArduinoClass( 'Mitov::ArduinoNano33BluetoothLEServer' )]
      [ArduinoExcludeUnconnectedAndDefault]
      [ArduinoInit]
      [ArduinoStart]
    //  [ArduinoLoopBegin]
      [ArduinoOwnerTemplateTypeAndReference]
      TArduinoNano33BluetoothLEServer : TArduinoCodeEnabledPersistent

        InputPin : TOWArduinoBLEServerMultiSinkPin

        [Name( 'BLE Server Serial' )]
        Serial : TArduinoBluetoothUartService

      ;
    //---------------------------------------------------------------------------
      [ArduinoInclude( 'Mitov_ArduinoNano33_BLE.h' )]
      [ArduinoDeclaredClass]
      [ArduinoClass( 'Mitov::ArduinoNano33BluetoothLE' )]
      [ArduinoInclude( 'ArduinoBLE.h' )]
      [ArduinoDefine( 'VISUINO_BLE_NINA' )]
      [Name( 'Bluetooth Low Energy' )]
      [CreateName( 'Bluetooth' )]
      [ArduinoInit]
      [ArduinoStart]
      [ArduinoLoopBegin]
      [ArduinoExcludeUnconnectedAndDefault]
      [ArduinoVariable( Boolean, 'FScanning' )]
      TArduinoNano33BluetoothExtender : Extender

        [Name( 'MAC Address' )]
        MACAddressOutputPin : TOWArduinoStringSourcePin

        LocalName : String = ''
        DeviceName : String = ''
        Server : TArduinoNano33BluetoothLEServer

        [ComponentEditorEntryDesign( 'Add Remote Devices ...' )]
        RemoteDevices : TArduinoNano33BluetoothLERemoteDevices

        [ArduinoExcludeCollectionItems]
        [ComponentEditorEntryDesign( 'Add BLE Operations ...' )]
        Operations : TArduinoNano33BluetoothLEModuleOperations

      ;
    //---------------------------------------------------------------------------
      [CollectionItemAssociation( TOWArduinoBLEServerMultiSinkPin )]
      [ParentImage( TArduinoBluetoothModule )]
      +TArduinoNano33BluetoothModule : TArduinoShield, TArduinoNano33BluetoothExtender;
    //---------------------------------------------------------------------------
      [ArduinoI2C( 1 )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION', 'Mitov::InterfaceI2C<TwoWire, Wire1, Mitov::ConstantProperty<151, uint8_t, 95 > >' )]
      +TArduinoNano33TemperatureHumidityModule : TArduinoTemperatureHumidityHTS221_I2C_Module;
    //---------------------------------------------------------------------------
      [ArduinoI2C( 1 )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION', '  Mitov::Interface_LSM9DS1_I2C<'#13#10'      TwoWire, // 0_I2C_TYPE_PIN'#13#10'      Wire1, // 1_I2C_NAME_PIN'#13#10'      Mitov::NestedProperty<4, Mitov::TArduinoLSM9DS1_I2C_Address<'#13#10'    Mitov::ConstantProperty<3, uint8_t, 107 >, //       AccelerometerGyroscope'#13#10'          Mitov::ConstantProperty<4, uint8_t, 30 > // Compass'#13#10'     > > // Address'#13#10'       >' )]
      +TArduinoNano33OrientationModule : TArduinoLSM9DS1_I2C_Basic_Module;
    //---------------------------------------------------------------------------
      [ArduinoI2C( 1 )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION', 'Mitov::InterfaceI2C<TwoWire, Wire1, Mitov::ConstantProperty<151, uint8_t, 92 > >' )]
      +TArduinoNano33PressureModule : TArduinoLPS22HB_I2C_Module;
    //---------------------------------------------------------------------------
      [ArduinoI2C( 1 )]
      [ArduinoTemplateParameter( '0_I2C_TYPE_PIN', 'TwoWire' )]
      [ArduinoTemplateParameter( '1_I2C_NAME_PIN', 'Wire1' )]
      [ArduinoTemplateParameter( 'Address', 'Mitov::ConstantProperty<77, uint8_t, 57 >' )]
      +TArduinoNano33GestureColorProximityModule : TArduinoGestureColorProximityAPDS9960_I2C_Module;
    //---------------------------------------------------------------------------
      [ArduinoInclude( 'Mitov_StandardSerial.h' )]
      [ArduinoSerialType( 'arduino::UART' )]
      +TArduinoNano33Serial : TArduinoBasicSpeedSerial;
    //---------------------------------------------------------------------------
      [ArduinoInclude( 'Mitov_mbed_BLE33_SPI_Class.h' )]
      [ArduinoClass( 'Mitov::Arduino_BLE33_SPI' )]
      +TArduinoNano33SPI : TArduinoSPI;
    //---------------------------------------------------------------------------
      [ArduinoDefine( 'VISUINO_NANO33BLE' )]
      [ArduinoBoardArchitecture( 'mbed' )]
      [ArduinoBoardArchitecture( 'mbed_nano' )]
      [ArduinoBoardCompileParams( 'arduino:mbed_nano:nano33ble' )]
      [Category( TArduinoNordicCategory )]
      [AtduinoCountI2CChannels( 2 )]
      [ArduinoBoardCanReset]
      TArduinoBasicNano33Board : TArduinoBoardExtendableImplementation

        [ArduinoExclude]
        AnalogInputReference : TArduinoAnalogInputReference = Default

        [AddItem( TArduinoEEPROMModule )]
        [AddItem( TArduinoNano33BluetoothModule )]
        [AddItem( TArduinoNano33OrientationModule )]
        Modules : TArduinoModules

        [AddItem( TArduinoNano33Serial, 2 )]
        Serial : TArduinoSerials

        [Name( 'I2C Channels' )]
        [AddItem( TArduinoI2C )]
        I2CChannels : TArduinoI2CChannels

        [Name( 'SPI Channels' )]
        [AddItem( TArduinoNano33SPI )]
        SPIChannels : TArduinoSPIChannels

       [ArduinoBoard_Add_DigitalAnalogChannels( 0,  1, TArduinoAdditionalDigitalPullUpDownSerial1Channel, 'Digital(TX)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 1,  1, TArduinoAdditionalDigitalPullUpDownSerial1Channel, 'Digital(RX)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 2,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_39)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 3,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_21)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 4,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_40)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 5,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_22)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 6,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_41)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 7,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_28)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 8,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_29)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 9,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_44)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 10, 1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_36)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 11, 1, TArduinoAdditionalDigitalPullUpDownPWMSPI0Channel, 'Digital(SPI-MOSI) (IO_35)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 12, 1, TArduinoAdditionalDigitalPullUpDownPWMSPI0Channel, 'Digital(SPI-MISO) (IO_34)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 13, 1, TArduinoAdditionalDigitalPullUpDownPWMSPI0Channel, 'Digital(LED)(SPI-SCK) (IO_31)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 14, 0, 1, TArduinoCombinedAnalogDigitalPullDownPWMChannel, '(IO_25)' )]
    [ArduinoBoard_Add_DigitalNamedAnalogChannels( 15, 1, 1, TArduinoCombinedAnalogDigitalPullDownPWMChannel, '(IO_27)' )]
    [ArduinoBoard_Add_DigitalNamedAnalogChannels( 16, 2, 1, TArduinoCombinedAnalogDigitalPullDownPWMChannel, '(IO_24)' )]
    [ArduinoBoard_Add_DigitalNamedAnalogChannels( 17, 3, 1, TArduinoCombinedAnalogDigitalPullDownPWMChannel, '(IO_23)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 18, 4, 1, TArduinoCombinedAnalogDigitalPullDownPWMI2C0Channel, 'Digital(I2C-SDA) (IO_20)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 19, 5, 1, TArduinoCombinedAnalogDigitalPullDownPWMI2C0Channel, 'Digital(I2C-SCL)(IO_18)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 20, 6, 1, TArduinoCombinedAnalogDigitalPullDownPWMChannel, '(IO_17)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 21, 7, 1, TArduinoCombinedAnalogDigitalPullDownPWMChannel, '(IO_16)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 22,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_4)  LED R' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 23,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_5)  LED G' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 24,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_43) LED B' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 25,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_33) LED POWER' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 26,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_52) INT_APDS' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 27,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_42) PDMCLK' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 28,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_7)  PDMDIN' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 29,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_51) PDMPWR' )]
    [ArduinoBoard_Add_DigitalNamedAnalogChannels( 30, 4, 1, TArduinoCombinedAnalogDigitalPullDownPWMI2C0Channel, 'Digital(I2C1-SDA)(IO_2)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 31, 5, 1, TArduinoCombinedAnalogDigitalPullDownPWMI2C0Channel, 'Digital(I2C1-SCL)(IO_3)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 32,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_8) R_PULLUP' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 33,  1, TArduinoAdditionalDigitalPullUpDownPWMChannel,  'Digital(IO_49) VDD_ENV' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 34,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_47)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 35,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_48)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 36,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_50)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 37,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_45)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 38,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_46)' )]
    [ArduinoBoard_Add_DigitalAnalogChannels( 39,   1, TArduinoBasicDigitalPWMChannel, ' Digital(IO_32)' )]
        Digital : TArduinoDigitalChannels

        [ComponentEditorEntryDesign( 'Add S&hields ...' )]
        Shields : TArduinoNanoShields

      ;
    //---------------------------------------------------------------------------
      [Name( 'Arduino Nano 33 BLE' )]
      +TArduinoNano33BLE : TArduinoBasicNano33Board;
    //---------------------------------------------------------------------------
      [Name( 'Arduino Nano 33 BLE Sense' )]
      +TArduinoNano33BLESense : TArduinoBasicNano33Board

        [AddItem( TArduinoNano33MicrophoneModule )]
        [AddItem( TArduinoNano33TemperatureHumidityModule )]
        [AddItem( TArduinoNano33PressureModule )]
        [AddItem( TArduinoNano33GestureColorProximityModule )]
        Modules

      ;
    //---------------------------------------------------------------------------
      [ArduinoSPI( 1 )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION', 'Mitov::AirLiftShieldInterface' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.0_SPI_INTERFACE', 'SPI1' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.1_CHIP_SELECT', '24' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.1_RESET', '27' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.1_GPIO0', '26' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.1_BUSY', '28' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.2_INVERT_RESET', 'false' )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION.UseGPIO0', 'Mitov::ConstantProperty<43, bool, true >' )]
      [ParentImage( TArduinoAdafruitAirLift_Basic_Module )]
      [Name( 'Communication' )]
      [CreateName( 'Communication' )]
      [ArduinoExcludeUnconnectedAndDefault]
      +TArduinoNano33IOT_AirLiftModule : TArduinoShield, TArduinoAdafruitAirLift_Extender, TArduinoAdafruitAirLiftBLE_Extender;
    //---------------------------------------------------------------------------
      [ArduinoI2C( 0 )]
      [ArduinoTemplateParameter( '0_IMPLEMENTATION', 'Mitov::InterfaceI2CNoSetHighBit<TwoWire, Wire, Mitov::ConstantProperty<200, uint8_t, 106 > >' )]
      +TArduinoNano33IOT_OrientationModule : TArduinoAccelerometerGyroscopeLSM6DS3_I2C_Basic_Module;
    //---------------------------------------------------------------------------
      [Name( 'Arduino Nano 33 IOT' )]
      [ArduinoBoardCompileParams( 'arduino:samd:nano_33_iot')]
      [Category( TArduinoM0CategoryCategory )]
      [ArduinoDefine( 'VISUINO_MKR_ZERO' )]
      +TArduinoNano33IOT : TArduinoSamdBasic_I2C_Only_Board

        [AddItem( TArduinoNano33IOT_AirLiftModule )]
        [AddItem( TArduinoNano33IOT_OrientationModule )]
        Modules

        [Name( 'SPI Channels' )]
        [AddItem( TArduinoSPI, 2 )]
        SPIChannels : TArduinoSPIChannels
        
        [Name( 'I2S Channels' )]
        [AddItem( TArduinoI2S )]
        I2SChannels : TArduinoI2SChannels

        [ArduinoBoard_Add_DigitalAnalogChannels( 0,  1, TArduinoBasicDigitalSerial1InterruptChannel, 'Digital(TX)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 1,  1, TArduinoBasicDigitalSerial1InterruptChannel, 'Digital(RX)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 2,  2, TArduinoDigitalPWMInterruptChannel )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 4,  1, TArduinoBasicDigitalInterruptChannel )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 5,  2, TArduinoDigitalPWMInterruptChannel )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 7,  2, TArduinoBasicDigitalInterruptChannel )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 9,  2, TArduinoDigitalPWMInterruptChannel )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 11,  1, TArduinoDigitalPWMSPI0InterruptChannel, 'Digital(SPI-MOSI)' )]
        [ArduinoBoard_Add_DigitalAnalogChannels( 12,  1, TArduinoDigitalPWMSPI0InterruptChannel, 'Digital(SPI-MISO)' )]

        [ArduinoBoard_Add_DigitalAnalogChannels( 13,  1, TArduinoDigitalPWMSPI0InterruptChannel, 'Digital(LED)(SPI-SCK)' )]

        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 14, 0, 1, TArduinoCombinedAnalogDigitalAnalogInterruptChannel )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 15, 1, 1, TArduinoCombinedAnalogDigitalAnalogInterruptChannel )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 16, 2, 2, TArduinoCombinedAnalogDigitalAnalogInterruptChannel )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 18, 4, 1, TArduinoCombinedAnalogDigitalAnalogI2C0InterruptChannel, 'Digital(I2C-SDA)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 19, 5, 1, TArduinoCombinedAnalogDigitalAnalogI2C0InterruptChannel, 'Digital(I2C-SCL)' )]
        [ArduinoBoard_Add_DigitalNamedAnalogChannels( 20, 6, 2, TArduinoCombinedAnalogDigitalAnalogInterruptChannel )]

        Digital : TArduinoDigitalChannels

        [ComponentEditorEntryDesign( 'Add S&hields ...' )]
        Shields : TArduinoNanoShields

      ;
    //---------------------------------------------------------------------------
    ; // Mitov

    GPIOS NO NINA B302


    Projeto seguidor de linha


    Alguns pontos importantes - COMENTADOS




    Questões: suporte@smartcore.com.br

    FONTES: 

    Carrinho Robô Arduino montado e pronto para uso - Usinainfo
    seguidor de linha infrared sensor - Bing images

    Sobre a SMARTCORE

    A SmartCore fornece módulos para comunicação wireless, biometria, conectividade, rastreamento e automação.
    Nosso portfólio inclui modem 2G/3G/4G/NB-IoT/Cat.M, satelital, módulos WiFi, Bluetooth, GNSS / GPS, Sigfox, LoRa, leitor de cartão, leitor QR code, mecanismo de impressão, mini-board PC, antena, pigtail, LCD, bateria, repetidor GPS e sensores.
    Mais detalhes em www.smartcore.com.br

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