kopia lustrzana https://github.com/pimoroni/pimoroni-pico
158 wiersze
4.6 KiB
C++
158 wiersze
4.6 KiB
C++
#include <cstdio>
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#include "pico/stdlib.h"
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#include "inventor.hpp"
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#include "pid.hpp"
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/*
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A demonstration of how a motor with an encoder can be used
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as a programmable rotary encoder for user input, with
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force-feedback for arbitrary detents and end stops.
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Press "User" to exit the program.
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*/
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using namespace inventor;
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// The gear ratio of the motor
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constexpr float GEAR_RATIO = 50.0f;
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// The direction to spin the motor in. NORMAL_DIR (0), REVERSED_DIR (1)
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const Direction DIRECTION = NORMAL_DIR;
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// The scaling to apply to the motor's speed to match its real-world speed
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constexpr float SPEED_SCALE = 5.4f;
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// How many times to update the motor per second
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const uint UPDATES = 100;
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constexpr float UPDATE_RATE = 1.0f / (float)UPDATES;
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// How many of the updates should be printed (i.e. 2 would be every other update)
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const uint PRINT_DIVIDER = 4;
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// Multipliers for the different printed values, so they appear nicely on the Thonny plotter
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constexpr float SPD_PRINT_SCALE = 20.0f; // Driving Speed multipler
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// The size (in degrees) of each detent region
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constexpr float DETENT_SIZE = 20.0f;
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// The minimum detent that can be counted to
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const int MIN_DETENT = 0;
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// The maximum detent that can be counted to
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const int MAX_DETENT = NUM_LEDS - 1;
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// The maximum drive force (as a percent) to apply when crossing detents
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constexpr float MAX_DRIVE_PERCENT = 0.5f;
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// The brightness of the RGB LED
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constexpr float BRIGHTNESS = 0.4f;
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// PID values
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constexpr float POS_KP = 0.14f; // Position proportional (P) gain
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constexpr float POS_KI = 0.0f; // Position integral (I) gain
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constexpr float POS_KD = 0.002f; // Position derivative (D) gain
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// Create a new Inventor2040W
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Inventor2040W board(GEAR_RATIO);
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// Create PID object for position control
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PID pos_pid = PID(POS_KP, POS_KI, POS_KD, UPDATE_RATE);
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int current_detent = 0;
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// Function to deal with a detent change
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void detent_change(int change) {
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// Update the current detent and pid setpoint
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current_detent += change;
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// Update the motor position setpoint
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pos_pid.setpoint = (current_detent * DETENT_SIZE);
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printf("Detent = %d\n", current_detent);
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// Convert the current detent to a hue and set the onboard led to it
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float hue = (float)(current_detent - MIN_DETENT) / (float)(MAX_DETENT - MIN_DETENT);
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for(auto i = 0u; i < NUM_LEDS; i++) {
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if((current_detent >= 0) && ((uint)current_detent == i))
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board.leds.set_hsv(i, hue, 1.0, BRIGHTNESS);
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else
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board.leds.set_hsv(i, hue, 1.0, 0.0);
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}
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}
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int main() {
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stdio_init_all();
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// Attempt to initialise the board
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if(board.init()) {
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// Access the motor and encoder from Inventor
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Motor& m = board.motors[MOTOR_A];
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Encoder& enc = board.encoders[MOTOR_A];
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// Set the motor's speed scale
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m.speed_scale(SPEED_SCALE);
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// Set the motor and encoder's direction
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m.direction(DIRECTION);
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enc.direction(DIRECTION);
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// Enable the motor
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m.enable();
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// Call the function once to set the setpoint and print the value
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detent_change(0);
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// Continually move the motor until the user button is pressed
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while(!board.switch_pressed()) {
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// Capture the state of the encoder
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Encoder::Capture capture = enc.capture();
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// Get the current detent's centre angle
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float detent_angle = ((float)current_detent * DETENT_SIZE);
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// Is the current angle above the region of this detent?
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if(capture.degrees() > detent_angle + (DETENT_SIZE / 2)) {
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// Is there another detent we can move to?
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if(current_detent < MAX_DETENT) {
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detent_change(1); // Increment to the next detent
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}
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}
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// Is the current angle below the region of this detent?
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else if(capture.degrees() < detent_angle - (DETENT_SIZE / 2)) {
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// Is there another detent we can move to?
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if(current_detent > MIN_DETENT) {
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detent_change(-1); // Decrement to the next detent
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}
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}
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// Calculate the velocity to move the motor closer to the position setpoint
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float vel = pos_pid.calculate(capture.degrees(), capture.degrees_per_second());
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// If the current angle is within the detent range, limit the max vel
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// (aka feedback force) that the user will feel when turning the motor between detents
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if((capture.degrees() >= MIN_DETENT * DETENT_SIZE) && (capture.degrees() <= MAX_DETENT * DETENT_SIZE)) {
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vel = CLAMP(vel, -MAX_DRIVE_PERCENT, MAX_DRIVE_PERCENT);
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}
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// Set the new motor driving speed
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m.speed(vel);
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sleep_ms(UPDATE_RATE * 1000.0f);
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}
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// Disable the motor
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m.disable();
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// Turn off the LEDs
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board.leds.clear();
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// Sleep a short time so the clear takes effect
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sleep_ms(100);
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}
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}
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