Fiddling with the pins via the filesystem is where I started, but PyBBIO mmaps the pins so you can flip them by reading/writing directly to memory, and I "ported" that to clojure using https://github.com/hiredman/beaglebone-jni-utils and https://github.com/hiredman/blackbox/blob/master/src/blackbox/gpio.clj.
I have not done anything with I2C, the last thing I did was work on wiring the beaglebone to a mini arduino driving an ultrasonic range finder. I used a java library, I think was called rxtx, for reading data from the serial port. On 9/4/13 2:45 PM, Jeremy Wright wrote: > Thanks for the slide deck Kevin. I'm not sure I've found all the slides > yet, but it's great information. Do you have any links or information on > Clojure robotics work you've done since the 2012 Conj? Any thoughts on > using the GPIO pins through the file system versus using I2C (or maybe SPI)? > > On Wednesday, September 4, 2013 3:59:33 PM UTC-4, red...@gmail.com wrote: >> >> I also have a vertigo inducing slide deck to go with the robot lightening >> talk (which I didn't end up using) >> http://thelibraryofcongress.s3.amazonaws.com/conj2012-robot/index.html >> >> On Sunday, September 1, 2013 8:21:46 PM UTC-7, Jeremy Wright wrote: >>> >>> Here are some updates on my own research. >>> >>> 1. This >>> post<http://thelibraryofcongress.s3.amazonaws.com/beagleboneled.html>is a >>> little over a year old, but has the type of information on the >>> BeagleBone I'm looking for. It covers doing some simple I/O using >>> Clojure. >>> The author states that he's unsure what he's doing on the hardware side >>> of >>> things, but it's a start. >>> 2. This >>> post<http://nakkaya.com/2011/03/15/clojure-on-the-beagleboard/>says it's >>> easy to get Clojure working on the Beagleboard, but is a couple >>> of years old and doesn't give too much detail. I do like that the author >>> does some benchmarking that could be adapted to the BeagleBone Black >>> though. >>> 3. This >>> post<http://blog.gonzih.me/blog/2012/09/07/clojure-on-beaglebone-openjdk-vs-oracle-embedded-jre-benchmark/>is >>> about a year old, and gives a benchmark comparison of OpenJDK vs >>> Oracle's Embedded JRE on a BeagleBone. >>> 4. Videos of Kevin Downey (less than a year old) showing a robot >>> using Clojure on a BeagleBone. He gives some insight into how to make >>> using >>> the Bone's I/O system in Clojure a little easier. >>> 1. Video 1 of 3 <https://www.youtube.com/watch?v=XMIKfOmAMjQ> >>> 2. Video 2 of 3 <https://www.youtube.com/watch?v=QPN2DFrlrYo> >>> 3. Video 3 of 3 <https://www.youtube.com/watch?v=iQK9p0XV2IY> >>> 5. Kevin Downey's Beaglebone robot code on >>> Github<https://github.com/hiredman/blackbox> >>> . >>> 6. Kevin Downey mentioned >>> clojure-jna<https://github.com/Chouser/clojure-jna> which >>> should make working with native code (to do I/O) on the Bone a little >>> easier. The clojure-jna code on GitHub is about 4 years old though, and >>> I >>> may have read something about a newer replacement on this mailing list. >>> I >>> can't remember for sure though. >>> >>> That's what I've found so far. The information has some age on it and is >>> focused on the older BeagleBone and Beagleboard. It's good information to >>> get started with though I think. >>> >>> On Saturday, August 31, 2013 11:13:59 PM UTC-4, Jeremy Wright wrote: >>>> >>>> I recently watched Carin Meier's OSCON talk The Joy of Flying Robots >>>> with Clojure <http://www.youtube.com/watch?v=Ty9QDqV-_Ak> and it made >>>> me wonder about Clojure on embedded systems. A quick search on this list >>>> didn't turn up much so I thought I'd ask. How much work has been done with >>>> Clojure on either Java friendly microcontroller systems (i.e. >>>> Systronix<http://www.systronix.com/>), >>>> or on something like a Beaglebone or Beagleboard? I'm very new to Clojure, >>>> so I don't yet understand the challenges that Clojure would face trying to >>>> run on a system that may not support all the JVM's features. >>>> >>>> Any thoughts on this? Any links you can give me on what's been/being >>>> done? >>>> >>>> Thanks. >>>> >>> > -- And what is good, Phaedrus, And what is not good— Need we ask anyone to tell us these things?
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