Maqueen V3 and Unihiker K10

Plug the UNIHIKER K10 into the Maqueen V3 edge connector the same way you'd plug a micro:bit. If you used a separate ultrasonic module, make sure its VCC is 3.3V (Maqueen/K10 are 3.3V logic) and GND is common. Maqueen docs specifically show ultrasonic on P8/P12 depending on model examples — check your board layout. https://dfimg.dfrobot.com/nobody/wiki/9452afa67059f576c85b345bd385a060.pdf

I'm not sure if this is acceptable to ask here.

I have both the Unihiker K10 and the Maqueen Plus V3.

I'm looking for board support code for use with arduino C++ or platformio style for the shield board.

I have not located anything on the DFR github repo for this board and can only locate Mind+ specific code.

Can someone please direct me to a location for code resources for C++ projects?

Thank you.

/*!
* MindPlus
* esp32s3bit
*
*/
#include "asr.h"
#include "unihiker_k10.h"
#include "arduino_image_cache.h"
#include <DFRobot_MaqueenPlusV2.h>
#include <DFRobot_matrixLidarDistanceSensor.h>
// Create an object
uint8_t                               screen_dir=2;
UNIHIKER_K10                          k10;
ASR                                   asr;
DFRobot_MaqueenPlusV2                 maqueenPlus;
uint8_t                               tofAddress = 0x33;
DFRobot_matrixLidarDistanceSensor_I2C tof(tofAddress);
Music                                 music;

// Main program start
void setup() {
k10.begin();
k10.initScreen(screen_dir);
k10.creatCanvas();
asr.asrInit(CONTINUOUS, EN_MODE, 6000);
while(asr._asrState == 0){delay(100);}
maqueenPlus.sys_int();
tof.begin();
tof.getAllDataConfig(eObstacle);
k10.setScreenBackground(0x000000);
asr.addASRCommand(0+1, "stop");
tof.configAvoidance(160);
maqueenPlus.set_rgbLed(2, 0x00FF00);
k10.canvas->canvasDrawBitmap(0,0,240,320,image_data1);
k10.canvas->updateCanvas();
}
void loop() {
tof.requestObstacleSensorData();
if (((tof.getDir())==3)) {
 maqueenPlus.set_rgbLed(2, 0x00FF00);
 k10.canvas->canvasDrawBitmap(0,0,240,320,image_data2);
 k10.canvas->updateCanvas();
 maqueenPlus.motorRun(maqueenPlus.ALL, maqueenPlus.CW, 130);
}
if (((tof.getDir())==2)) {
 maqueenPlus.set_rgbLed(0, 0xFFFF00);
 maqueenPlus.set_rgbLed(1, 0x000000);
 maqueenPlus.motorRun(maqueenPlus.LEFT, maqueenPlus.CW, 130);
 maqueenPlus.motorRun(maqueenPlus.RIGHT, maqueenPlus.CCW, 130);
 k10.canvas->canvasDrawBitmap(0,0,240,320,image_data3);
 k10.canvas->updateCanvas();
 music.playTone(262,  8000);
}
if (((tof.getDir())==1)) {
 maqueenPlus.set_rgbLed(1, 0xFFFF00);
 maqueenPlus.set_rgbLed(0, 0x000000);
 maqueenPlus.motorRun(maqueenPlus.LEFT, maqueenPlus.CCW, 130);
 maqueenPlus.motorRun(maqueenPlus.RIGHT, maqueenPlus.CW, 130);
 k10.canvas->canvasDrawBitmap(0,0,240,320,image_data4);
 k10.canvas->updateCanvas();
 music.playTone(262,  8000);
}
if ((asr.isWakeUp() && asr.isDetectCmdID(0+1))) {
 maqueenPlus.motorStop(maqueenPlus.ALL);
 k10.canvas->canvasDrawBitmap(0,0,240,320,image_data5);
 k10.canvas->updateCanvas();
 music.playMusic(POWER_DOWN);
 maqueenPlus.set_rgbLed(2, 0xFF0000);
 delay(10000);
}
}
 

The “Maqueen V3” extension in Mind+ is officially built around micro:bit firmware, not Unihiker.

When you drag “avoid obstacle” blocks, Mind+ assumes a micro:bit is driving the motors directly. On Unihiker, you must map the motor control to the K10’s GPIO/I²C bus instead.

Even if the ultrasonic works, the robot might not move if the K10 isn’t actually commanding the motors correctly.

After many tries, I think I did it:

/*!
* MindPlus
* esp32s3bit
*
*/
#include <DFRobot_MaqueenPlusV2.h>
#include <DFRobot_matrixLidarDistanceSensor.h>
// Create an object
DFRobot_MaqueenPlusV2                 maqueenPlus;
uint8_t                               tofAddress = 0x33;
DFRobot_matrixLidarDistanceSensor_I2C tof(tofAddress);

// Main program start
void setup() {
maqueenPlus.sys_int();
tof.begin();
tof.getAllDataConfig(eObstacle);
tof.configAvoidance(160);
maqueenPlus.set_rgbLed(2, 0x00FF00);
}
void loop() {
tof.requestObstacleSensorData();
if (((tof.getDir())==3)) {
 maqueenPlus.set_rgbLed(2, 0x00FF00);
 maqueenPlus.motorRun(maqueenPlus.ALL, maqueenPlus.CW, 130);
}
if (((tof.getDir())==2)) {
 maqueenPlus.set_rgbLed(0, 0xFF0000);
 maqueenPlus.motorRun(maqueenPlus.LEFT, maqueenPlus.CW, 130);
 maqueenPlus.motorRun(maqueenPlus.RIGHT, maqueenPlus.CCW, 130);
}
if (((tof.getDir())==1)) {
 maqueenPlus.set_rgbLed(1, 0xFF0000);
 maqueenPlus.motorRun(maqueenPlus.LEFT, maqueenPlus.CCW, 130);
 maqueenPlus.motorRun(maqueenPlus.RIGHT, maqueenPlus.CW, 130);
}
}