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Stackchan Arduino Library API Documentation

Overview

The Stackchan Arduino Library is a library for controlling Stack-chan on M5Stack devices. This library provides features such as servo motor control, configuration file loading, and Bluetooth settings.

Class List

1. StackchanSystemConfig

A class that loads configuration files and manages system settings.

Methods

  • loadConfig(fs::FS& fs, const char *app_yaml_filename, uint32_t app_yaml_filesize, const char* secret_yaml_filename, uint32_t secret_yaml_filesize, const char* basic_yaml_filename, uint32_t basic_yaml_filesize)

    • Loads configuration files and initializes system settings.
    • Arguments:
      • fs: File system object.
      • app_yaml_filename: Path to the application configuration file.
      • app_yaml_filesize: Size of the application configuration file.
      • secret_yaml_filename: Path to the personal information configuration file.
      • secret_yaml_filesize: Size of the personal information configuration file.
      • basic_yaml_filename: Path to the basic configuration file.
      • basic_yaml_filesize: Size of the basic configuration file.

  • printAllParameters()

    • Outputs all configuration parameters to the log.

  • getServoInfo(uint8_t servo_axis_no)

    • Gets information for the specified servo axis.

  • getWiFiSetting()

    • Gets the WiFi settings.

  • getAPISetting()

    • Gets the API key settings.

2. StackchanSERVO

A class that controls servo motors.

Methods

  • begin(stackchan_servo_initial_param_s init_params)

    • Initializes the servo motors.

  • moveX(int x, uint32_t millis_for_move = 0)

    • Moves the X-axis servo to the specified angle.
    • Arguments:
      • x: Angle to move to.
      • millis_for_move: Time to spend on the movement, in milliseconds.

  • moveY(int y, uint32_t millis_for_move = 0, bool wait_for_completion = true)

    • Moves the Y-axis servo to the specified angle.
    • If wait_for_completion is set to false, the function returns without waiting for the movement to complete.

  • moveXY(int x, int y, uint32_t millis_for_move)

    • Moves the X-axis and Y-axis servos simultaneously.

  • motion(Motion motion_no)

    • Runs a preset motion.
    • Arguments:
      • motion_no: Type of motion to run, such as greet or laugh.

3. StackchanExConfig

A class that extends StackchanSystemConfig and manages application-specific settings.

Methods

  • loadExtendConfig(fs::FS& fs, const char *yaml_filename, uint32_t yaml_size)

    • Loads an extended configuration file.

  • setExtendSettings(DynamicJsonDocument doc)

    • Applies extended settings.

  • printExtParameters()

    • Outputs extended setting parameters to the log.

Enumerations

Motion

Defines preset servo motor motions.

  • nomove: No movement.
  • greet: Greeting.
  • laugh: Laugh.
  • nod: Nod.
  • refuse: Refuse.
  • test: For testing.

ServoType

Defines servo motor types.

  • PWM: PWM servo, such as SG90.
  • SCS: Serial servo, such as Feetech SCS0009.
  • DYN_XL330: Dynamixel XL330.
  • RT_DYN_XL330: RT version of Dynamixel XL330.

Configuration Files

SC_BasicConfig.yaml

Basic configuration file. Defines servo pin numbers, initial positions, movement ranges, speed, and other settings.

SC_SecConfig.yaml

Personal information configuration file. Defines the WiFi SSID and password, API keys, and other settings.

SC_ExtConfig.yaml

Extended configuration file. Describes application-specific settings.

Usage Example

Initializing and Moving Servos

#include <M5Unified.h>
#include "Stackchan_servo.h"

StackchanSERVO servo;

void setup() {
  M5.begin();
  servo.begin(33, 90, 0, 32, 90, 0, ServoType::PWM); // Initialize servos
  servo.moveX(45, 1000); // Move the X-axis to 45 degrees over 1 second
  servo.moveY(60, 1000); // Move the Y-axis to 60 degrees over 1 second
  servo.moveXY(90, 90, 1000); // Face forward over 1 second
}

void loop() {
  // Repeated processing
}