Quick reference for the openmvcam

OpenMV Cam pinout

General board control

See pyb.

import pyb

pyb.delay(50) # wait 50 milliseconds
pyb.millis() # number of milliseconds since bootup
pyb.repl_uart(pyb.UART(3, 9600)) # duplicate REPL on UART(3)

LEDs

See pyb.LED.

from pyb import LED

led = LED(1) # red led
led.toggle()
led.on()
led.off()

Pins and GPIO

See pyb.Pin.

from pyb import Pin

p_out = Pin('P7', Pin.OUT_PP)
p_out.high()
p_out.low()

p_in = Pin('P7', Pin.IN, Pin.PULL_UP)
p_in.value() # get value, 0 or 1

Servo control

See pyb.Servo.

from pyb import Servo

s1 = Servo(1) # servo on position 1 (P7)
s1.angle(45) # move to 45 degrees
s1.angle(-60, 1500) # move to -60 degrees in 1500ms
s1.speed(50) # for continuous rotation servos

External interrupts

See pyb.ExtInt.

from pyb import Pin, ExtInt

callback = lambda e: print("intr")
ext = ExtInt(Pin('P7'), ExtInt.IRQ_RISING, Pin.PULL_NONE, callback)

Timers

See pyb.Timer.

from pyb import Timer

tim = Timer(4, freq=1000)
tim.counter() # get counter value
tim.freq(0.5) # 0.5 Hz
tim.callback(lambda t: pyb.LED(1).toggle())

PWM (pulse width modulation)

See pyb.Pin and pyb.Timer.

from pyb import Pin, Timer

p = Pin('P7') # P7 has TIM4, CH1
tim = Timer(4, freq=1000)
ch = tim.channel(1, Timer.PWM, pin=p)
ch.pulse_width_percent(50)

ADC (analog to digital conversion)

See pyb.Pin and pyb.ADC.

from pyb import Pin, ADC

adc = ADC('P6')
adc.read() # read value, 0-4095

DAC (digital to analog conversion)

See pyb.Pin and pyb.DAC.

from pyb import Pin, DAC

dac = DAC('P6')
dac.write(120) # output between 0 and 255

UART (serial bus)

See pyb.UART.

from pyb import UART

uart = UART(3, 9600)
uart.write('hello')
uart.read(5) # read up to 5 bytes

SPI bus

See pyb.SPI.

from pyb import SPI

spi = SPI(2, SPI.MASTER, baudrate=200000, polarity=1, phase=0)
spi.send('hello')
spi.recv(5) # receive 5 bytes on the bus
spi.send_recv('hello') # send a receive 5 bytes

I2C bus

See pyb.I2C.

from pyb import I2C

i2c = I2C(2, I2C.MASTER, baudrate=100000)
i2c.scan() # returns list of slave addresses
i2c.send('hello', 0x42) # send 5 bytes to slave with address 0x42
i2c.recv(5, 0x42) # receive 5 bytes from slave
i2c.mem_read(2, 0x42, 0x10) # read 2 bytes from slave 0x42, slave memory 0x10
i2c.mem_write('xy', 0x42, 0x10) # write 2 bytes to slave 0x42, slave memory 0x10