kopia lustrzana https://github.com/pimoroni/pimoroni-pico
79 wiersze
1.5 KiB
C++
79 wiersze
1.5 KiB
C++
#include <math.h>
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#include "pico/stdlib.h"
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#include "pico_motor_shim.hpp"
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/*
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Demonstrates how to create a Motor object and control it.
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*/
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using namespace motor;
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// How many sweeps of the motor to perform
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const uint SWEEPS = 2;
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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 drive the motor when sweeping
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constexpr float SPEED_EXTENT = 1.0f;
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// Create a motor
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Motor m = Motor(pico_motor_shim::MOTOR_1);
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int main() {
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stdio_init_all();
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// Initialise the motor
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m.init();
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// Enable the motor
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m.enable();
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sleep_ms(2000);
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// Drive at full positive
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m.full_positive();
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sleep_ms(2000);
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// Stop moving
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m.stop();
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sleep_ms(2000);
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// Drive at full negative
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m.full_negative();
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sleep_ms(2000);
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// Coast to a gradual stop
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m.coast();
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sleep_ms(2000);
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// Do a sine speed 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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m.speed(sin(((float)i * (float)M_PI) / 180.0f) * SPEED_EXTENT);
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sleep_ms(20);
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}
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}
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// Do a stepped speed 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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m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_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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m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT);
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sleep_ms(STEPS_INTERVAL_MS);
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}
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}
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// Disable the motor
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m.disable();
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}
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