kopia lustrzana https://github.com/pimoroni/pimoroni-pico
77 wiersze
1.6 KiB
C++
77 wiersze
1.6 KiB
C++
#include "pico/stdlib.h"
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#include "inventor.hpp"
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/*
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Demonstrates how to control a single servo on Inventor 2040 W.
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*/
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using namespace inventor;
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// How many sweeps of the servo to perform
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const uint SWEEPS = 3;
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// The number of discrete sweep steps
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const uint STEPS = 10;
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// The time in milliseconds between each step of the sequence
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const uint STEPS_INTERVAL_MS = 500;
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// How far from zero to move the servo when sweeping
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constexpr float SWEEP_EXTENT = 90.0f;
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// Create a new Inventor2040W
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Inventor2040W board;
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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 servo from Inventor
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Servo& s = board.servos[SERVO_1];
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// Enable the servo (this puts it at the middle)
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s.enable();
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sleep_ms(2000);
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// Go to min
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s.to_min();
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sleep_ms(2000);
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// Go to max
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s.to_max();
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sleep_ms(2000);
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// Go back to mid
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s.to_mid();
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sleep_ms(2000);
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// Do a sine sweep
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for(auto j = 0u; j < SWEEPS; j++) {
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for(auto i = 0u; i < 360; i++) {
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s.value(sin(((float)i * (float)M_PI) / 180.0f) * SWEEP_EXTENT);
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sleep_ms(20);
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}
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}
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// Do a stepped sweep
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for(auto j = 0u; j < SWEEPS; j++) {
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for(auto i = 0u; i < STEPS; i++) {
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s.to_percent(i, 0, STEPS, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT);
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sleep_ms(STEPS_INTERVAL_MS);
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}
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for(auto i = 0u; i < STEPS; i++) {
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s.to_percent(i, STEPS, 0, 0.0 - SWEEP_EXTENT, SWEEP_EXTENT);
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sleep_ms(STEPS_INTERVAL_MS);
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}
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}
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// Disable the servo
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s.disable();
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}
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}
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