IOIO PWM Configuration

The Micro Rover uses the IOIO board as an I/O break-out to connect to the Android controlling device via Bluetooth or Android Accessory Development Kit. This is an overview of how to control the servos found on the robot programmatically through Android APIs.

Developers can use a smartphone as the Android device to connect to the IOIO board. Please note that the Micro Rover needs five AA batteries to operate. Re-chargeable batteries are recommended to be used.

Developers are encouraged to develop their own application for the Micro Rover.

The IOIO software included on the device uses version 5.04.

Each servo has a center, value of 1500. Their max value is 2000 and min value is 1000. The following table defines the servo configuration as wired to the IOIO board on the Robot. Note: the right drive servo is mounted upside down, so to move the attached wheel forward the values are reversed.

The IOIO software included on the device uses version 5.04.

Each servo has a center, value of 1500. Their max value is 2000 and min value is 1000. The following table defines the servo configuration as wired to the IOIO board on the Robot. Note: the right drive servo is mounted upside down, so to move the attached wheel forward the values are reversed.

DESCRIPTIONPINPWM FREQUENCYMINCENTERMAX
Camera Pan150 Hz100015002000
Drive Left250 Hz100015002000
Drive Right350 Hz200015001000
Forklift450 Hz100015002000

Firmware Location

All IOIO firmware versions can be found on the IOIO GitHub repo. After pulling the master branch, the firmware (*.ioioapp) can be found here: ioio-master/release/firmware/application