BlackCat Arduino Library

A comprehensive library for controlling the BlackCat robot kit based on Arduino Nano. This library provides easy-to-use functions for controlling motors, servos, sensors, and display.

Features

• Motor control (TB6612FNG driver)
• Dual servo control
• IR sensor array (5 sensors)
• Ultrasonic sensor (HC-SR04)
• Buzzer output
• Push button input
• OLED display (SSD1306 128x64)

Hardware Configuration

Pin Assignments

Component	Pin	Description
OK Button	D12	Push button input
Buzzer	D5	Sound output
LED	D13	Status LED
Motor Driver (TB6612FNG)
- PWMA	D10	Left motor speed
- AIN1	D7	Left motor direction 1
- AIN2	D8	Left motor direction 2
- PWMB	D11	Right motor speed
- BIN1	D3	Right motor direction 1
- BIN2	D14	Right motor direction 2
Servos
- SV1	D6	Servo 1
- SV2	D9	Servo 2
Ultrasonic (HC-SR04)
- TRIG	D2	Trigger pin
- ECHO	D4	Echo pin
IR Sensors
- IR0	A1	Leftmost sensor
- IR1	A2	Left sensor
- IR2	A3	Center sensor
- IR3	A6	Right sensor
- IR4	A7	Rightmost sensor
OLED Display		Uses I2C

Installation

1. Download the library (zip file)
2. In Arduino IDE: Sketch -> Include Library -> Add .ZIP Library
3. Select the downloaded zip file
4. Restart Arduino IDE

Required dependencies:

• Wire.h (built-in)
• Servo.h (built-in)
• Adafruit_GFX
• Adafruit_SSD1306

Usage

Basic Setup

#include <BlackCat.h>

void setup() {
    BlackCat();  // Initialize all components
}

void loop() {
    // Your code here
}

Motor Control

All motor functions use speed values from 0 to 100 (percentage).

// Move forward at 50% speed
fd(50);

// Move backward at 75% speed
bk(75);

// Turn left (right motor only) at 60% speed
tl(60);

// Turn right (left motor only) at 60% speed
tr(60);

// Spin left at 40% speed
sl(40);

// Spin right at 40% speed
sr(40);

// Stop all motors
ao();

// Control individual motors (1=left, 2=right)
motor(1, 50);  // Left motor forward 50%
motor(2, -50); // Right motor backward 50%

// Wait for 1 second
sleep(1000);

Servo Control

// Control servo 1 to 90 degrees
servo(1, 90);

// Control servo 2 to 45 degrees
servo(2, 45);

IR Sensors

// Read IR sensor values (0-4)
int leftmost = readIR(0);
int center = readIR(2);
int rightmost = readIR(4);

Ultrasonic Sensor

// Get distance in centimeters
float distance = getDist();

Buzzer

// Beep at 1kHz for 100ms
beep(1000, 100);

Button Functions

// Wait for button press
OK();

// Read button state
if (SW_OK()) {
    // Button is currently pressed
}

// Check for button press event
if (isOK()) {
    // Button was just pressed
}

OLED Display

// Clear display
oled.clear();

// Set text size (1-8)
oled.size(1);

// Display text
oled.text(0, 0, "Hello");

// Display formatted text
oled.text(0, 10, "IR: %d", readIR(0));

// Update display
oled.show();

Example Sketches

Line Following Robot

#include <BlackCat.h>

void setup() {
    BlackCat();
}

void loop() {
    int center = readIR(2);
    
    if (center > 500) {  // On black line
        fd(50);
    } else {            // Off line
        ao();
    }
}

Obstacle Avoidance

#include <BlackCat.h>

void setup() {
    BlackCat();
}

void loop() {
    float distance = getDist();
    
    if (distance < 20) {  // Object within 20cm
        ao();
        sl(50);
        sleep(500);
    } else {
        fd(50);
    }
}

Author

NightHawk Robotics

Version History

• 1.0.0 (2024-10-24) - Initial release