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Added MP examples for pico motor shim, and tweaked others

motor-and-encoder
ZodiusInfuser 2022-05-10 18:36:44 +01:00
rodzic c75b35265b
commit 59019ab850
8 zmienionych plików z 446 dodań i 10 usunięć
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14
examples/pico_motor_shim/song/demo.cpp
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@ -39,13 +39,8 @@ static const uint STATIONARY_TOGGLE_US = 2000;
Button button_a(pico_motor_shim::BUTTON_A, Polarity::ACTIVE_LOW, 0);
#ifdef USE_FAST_DECAY
Motor motor_1(pico_motor_shim::MOTOR_1, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, FAST_DECAY);
Motor motor_2(pico_motor_shim::MOTOR_2, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, FAST_DECAY);
#else
Motor motor_1(pico_motor_shim::MOTOR_1, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, SLOW_DECAY);
Motor motor_2(pico_motor_shim::MOTOR_2, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, SLOW_DECAY);
#endif
Motor motor_1(pico_motor_shim::MOTOR_1);
Motor motor_2(pico_motor_shim::MOTOR_2);
static bool button_toggle = false;
@ -70,6 +65,11 @@ int main() {
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
#ifdef USE_FAST_DECAY
motor_1.decay_mode(FAST_DECAY);
motor_2.decay_mode(FAST_DECAY);
#endif
//Initialise the motor
if(!motor_1.init() || !motor_2.init()) {
printf("Cannot initialise the motors. Check the provided parameters\n");

4
micropython/examples/motor2040/multiple_motors.py
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@ -45,8 +45,8 @@ SPEED_EXTENT = 1.0 # How far from zero to drive the motors when sweeping
for j in range(SWEEPS):
for i in range(360):
speed = math.sin(math.radians(i)) * SPEED_EXTENT
for s in motors:
s.speed(speed)
for m in motors:
m.speed(speed)
time.sleep(0.02)
# Do a stepped speed sweep

2
micropython/examples/motor2040/quad_velocity_sequence.py
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@ -28,7 +28,7 @@ TIME_FOR_EACH_MOVE = 2 # The time to travel between each value
UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES
PRINT_DIVIDER = 4 # How many of the updates should be printed (i.e. 2 would be every other update)
DRIVING_SPEED = 1.0 # The speed to drive the wheels at
DRIVING_SPEED = 1.0 # The speed to drive the wheels at, from 0.0 to SPEED_SCALE
# PID values
VEL_KP = 30.0 # Velocity proportional (P) gain

71
micropython/examples/pico_motor_shim/dual_motors.py 100644
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@ -0,0 +1,71 @@
import time
import math
from motor import Motor, pico_motor_shim
# from pimoroni import REVERSED_DIR
"""
Demonstrates how to create two Motor objects and control them together.
"""
# Create a list of motors
MOTOR_PINS = [pico_motor_shim.MOTOR_1, pico_motor_shim.MOTOR_2]
motors = [Motor(pins) for pins in MOTOR_PINS]
# Uncomment the below lines (and the top import) to
# reverse the driving direction of a motor
# motors[0].direction(REVERSED_DIR)
# motors[1].direction(REVERSED_DIR)
# Enable all motors
for m in motors:
m.enable()
time.sleep(2)
# Drive at full positive
for m in motors:
m.full_positive()
time.sleep(2)
# Stop moving
for m in motors:
m.stop()
time.sleep(2)
# Drive at full negative
for m in motors:
m.full_negative()
time.sleep(2)
# Coast to a gradual stop
for m in motors:
m.coast()
time.sleep(2)
SWEEPS = 2 # How many speed sweeps of the motors to perform
STEPS = 10 # The number of discrete sweep steps
STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
SPEED_EXTENT = 1.0 # How far from zero to drive the motors when sweeping
# Do a sine speed sweep
for j in range(SWEEPS):
for i in range(360):
speed = math.sin(math.radians(i)) * SPEED_EXTENT
for m in motors:
m.speed(speed)
time.sleep(0.02)
# Do a stepped speed sweep
for j in range(SWEEPS):
for i in range(0, STEPS):
for m in motors:
m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
time.sleep(STEPS_INTERVAL)
for i in range(0, STEPS):
for m in motors:
m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
time.sleep(STEPS_INTERVAL)
# Disable the motors
for m in motors:
m.disable()

191
micropython/examples/pico_motor_shim/motor_song.py 100644
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@ -0,0 +1,191 @@
import gc
import time
from machine import Pin
from motor import Motor, pico_motor_shim, SLOW_DECAY # , FAST_DECAY
from pimoroni import Button
"""
A fun example of how to change a motor's frequency to have it play a song.
"""
# This handy dictonary converts notes into frequencies
TONES = {
"B0": 31,
"C1": 33,
"CS1": 35,
"D1": 37,
"DS1": 39,
"E1": 41,
"F1": 44,
"FS1": 46,
"G1": 49,
"GS1": 52,
"A1": 55,
"AS1": 58,
"B1": 62,
"C2": 65,
"CS2": 69,
"D2": 73,
"DS2": 78,
"E2": 82,
"F2": 87,
"FS2": 93,
"G2": 98,
"GS2": 104,
"A2": 110,
"AS2": 117,
"B2": 123,
"C3": 131,
"CS3": 139,
"D3": 147,
"DS3": 156,
"E3": 165,
"F3": 175,
"FS3": 185,
"G3": 196,
"GS3": 208,
"A3": 220,
"AS3": 233,
"B3": 247,
"C4": 262,
"CS4": 277,
"D4": 294,
"DS4": 311,
"E4": 330,
"F4": 349,
"FS4": 370,
"G4": 392,
"GS4": 415,
"A4": 440,
"AS4": 466,
"B4": 494,
"C5": 523,
"CS5": 554,
"D5": 587,
"DS5": 622,
"E5": 659,
"F5": 698,
"FS5": 740,
"G5": 784,
"GS5": 831,
"A5": 880,
"AS5": 932,
"B5": 988,
"C6": 1047,
"CS6": 1109,
"D6": 1175,
"DS6": 1245,
"E6": 1319,
"F6": 1397,
"FS6": 1480,
"G6": 1568,
"GS6": 1661,
"A6": 1760,
"AS6": 1865,
"B6": 1976,
"C7": 2093,
"CS7": 2217,
"D7": 2349,
"DS7": 2489,
"E7": 2637,
"F7": 2794,
"FS7": 2960,
"G7": 3136,
"GS7": 3322,
"A7": 3520,
"AS7": 3729,
"B7": 3951,
"C8": 4186,
"CS8": 4435,
"D8": 4699,
"DS8": 4978
}
# Put the notes for your song in here!
SONG = ("F6", "F6", "E6", "F6", "F5", "P", "F5", "P", "C6", "AS5", "A5", "C6", "F6", "P", "F6", "P", "G6", "FS6", "G6", "G5", "P", "G5", "P", "G6", "F6", "E6", "D6", "C6", "P", "C6", "P", "D6", "E6", "F6", "E6", "D6", "C6", "D6", "C6", "AS5", "A5", "AS5", "A5", "G5", "F5", "G5", "F5", "E5", "D5", "C5", "D5", "E5", "F5", "G5", "AS5", "A5", "G5", "A5", "F5", "P", "F5")
NOTE_DURATION = 0.150 # The time (in seconds) to play each note for. Change this to make the song play faster or slower
STATIONARY_TOGGLE_US = 2000 # The time (in microseconds) between each direction switch of the motor when using STATIONARY_PLAYBACK
STATIONARY_PLAYBACK = False # Whether to play the song with or without the motors spinning
DECAY_MODE = SLOW_DECAY # The motor decay mode to use, either FAST_DECAY (0) or SLOW_DECAY (1). Affects the song's quality
# Free up hardware resources ahead of creating new Motors
# (avoids occasional issues where the song just stops playing)
gc.collect()
# Create two motor objects with a given decay mode
motor_1 = Motor(pico_motor_shim.MOTOR_1, mode=DECAY_MODE)
motor_2 = Motor(pico_motor_shim.MOTOR_2, mode=DECAY_MODE)
# Create a pin for the Pico's onboard LED
led = Pin(25, Pin.OUT)
led.value(False)
# Create the user button
button_a = Button(pico_motor_shim.BUTTON_A, repeat_time=0)
# Variable for recording if the button has been toggled
# Starting as True makes the song play automatically
button_toggle = True
# Function to check if the button has been toggled
def check_button_toggle():
global button_toggle
if button_a.read():
button_toggle = not button_toggle
return button_toggle
while True:
# Has the button been toggled?
if check_button_toggle():
# Turn the Pico's LED on to show that the song has started
led.value(True)
# Play the song
for i in range(len(SONG)):
if check_button_toggle():
if SONG[i] == "P":
# This is a "pause" note, so stop the motors
motor_1.stop()
motor_2.stop()
time.sleep(NOTE_DURATION)
else:
# Get the frequency of the note and set the motors to it
freq = TONES[SONG[i]]
motor_1.frequency(freq)
motor_2.frequency(freq)
if STATIONARY_PLAYBACK:
# Set the motors to 50% duty cycle to play the note, but alternate
# the direction so that the motor does not actually spin
t = 0
while t < NOTE_DURATION * 1000000:
motor_1.duty(0.5)
motor_2.duty(0.5)
time.sleep_us(STATIONARY_TOGGLE_US)
t += STATIONARY_TOGGLE_US
motor_1.duty(-0.5)
motor_2.duty(-0.5)
time.sleep_us(STATIONARY_TOGGLE_US)
t += STATIONARY_TOGGLE_US
else:
# Set the motors to 50% duty cycle to play the note whilst spinning
motor_1.duty(0.5)
motor_2.duty(0.5)
time.sleep(NOTE_DURATION)
else:
# The button was toggled again, so stop playing the song
break
button_toggle = False
# The song has finished, so turn off the Pico's LED and disable the motors
led.value(False)
motor_1.disable()
motor_2.disable()
time.sleep(0.01)

109
micropython/examples/pico_motor_shim/movements.py 100644
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@ -0,0 +1,109 @@
import time
from motor import Motor, pico_motor_shim
from pimoroni import NORMAL_DIR, REVERSED_DIR
"""
An example of how to perform simple movements of a 2-wheeled driving robot.
"""
SPEED_SCALE = 5.4 # The scaling to apply to each motor's speed to match its real-world speed
DRIVING_SPEED = SPEED_SCALE # The speed to drive the wheels at, from 0.0 to SPEED_SCALE
# Create the left and right motors with a given speed scale
# Swap the numbers and directions if this is different to your setup
left = Motor(pico_motor_shim.MOTOR_1, direction=NORMAL_DIR, speed_scale=SPEED_SCALE)
right = Motor(pico_motor_shim.MOTOR_2, direction=REVERSED_DIR, speed_scale=SPEED_SCALE)
# Helper functions for driving in common directions
def forward(speed=DRIVING_SPEED):
left.speed(speed)
right.speed(speed)
def backward(speed=DRIVING_SPEED):
left.speed(-speed)
right.speed(-speed)
def turn_left(speed=DRIVING_SPEED):
left.speed(-speed)
right.speed(speed)
def turn_right(speed=DRIVING_SPEED):
left.speed(speed)
right.speed(-speed)
def curve_forward_left(speed=DRIVING_SPEED):
left.speed(0.0)
right.speed(speed)
def curve_forward_right(speed=DRIVING_SPEED):
left.speed(speed)
right.speed(0.0)
def curve_backward_left(speed=DRIVING_SPEED):
left.speed(0.0)
right.speed(-speed)
def curve_backward_right(speed=DRIVING_SPEED):
left.speed(-speed)
right.speed(0.0)
def stop():
left.stop()
right.stop()
def coast():
left.coast()
right.coast()
# Demo each of the move methods
forward()
time.sleep(1)
backward()
time.sleep(1)
curve_forward_right()
time.sleep(1)
curve_forward_left()
time.sleep(1)
turn_right()
time.sleep(1)
forward(0.5 * DRIVING_SPEED) # Half speed
time.sleep(1)
turn_left(0.5 * DRIVING_SPEED) # Half speed
time.sleep(1)
curve_backward_right(0.75 * DRIVING_SPEED) # Three quarters speed
time.sleep(1)
forward() # Full speed
time.sleep(0.5)
coast() # Come to a halt gently
time.sleep(1)
forward()
time.sleep(0.5)
stop() # Apply the brakes
time.sleep(1.0)
# Disable the motors
left.disable()
right.disable()

54
micropython/examples/pico_motor_shim/single_motor.py 100644
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@ -0,0 +1,54 @@
import time
import math
from motor import Motor, pico_motor_shim
"""
Demonstrates how to create a Motor object and control it.
"""
# Create a motor
m = Motor(pico_motor_shim.MOTOR_1)
# Enable the motor
m.enable()
time.sleep(2)
# Drive at full positive
m.full_positive()
time.sleep(2)
# Stop moving
m.stop()
time.sleep(2)
# Drive at full negative
m.full_negative()
time.sleep(2)
# Coast to a gradual stop
m.coast()
time.sleep(2)
SWEEPS = 2 # How many speed sweeps of the motor to perform
STEPS = 10 # The number of discrete sweep steps
STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
SPEED_EXTENT = 1.0 # How far from zero to drive the motor when sweeping
# Do a sine speed sweep
for j in range(SWEEPS):
for i in range(360):
m.speed(math.sin(math.radians(i)) * SPEED_EXTENT)
time.sleep(0.02)
# Do a stepped speed sweep
for j in range(SWEEPS):
for i in range(0, STEPS):
m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
time.sleep(STEPS_INTERVAL)
for i in range(0, STEPS):
m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
time.sleep(STEPS_INTERVAL)
# Disable the motor
m.disable()

11
micropython/examples/pico_motor_shim/stop_motors.py 100644
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@ -0,0 +1,11 @@
from motor import Motor, pico_motor_shim
"""
A simple program that stops the motors.
"""
# Create two motor objects.
# This will initialise the pins, stopping any
# previous movement that may be stuck on
m1 = Motor(pico_motor_shim.MOTOR_1)
m2 = Motor(pico_motor_shim.MOTOR_2)