kopia lustrzana https://github.com/pimoroni/pimoroni-pico
82 wiersze
1.9 KiB
C++
82 wiersze
1.9 KiB
C++
#include "pico/stdlib.h"
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#include "servo2040.hpp"
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#include "button.hpp"
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/*
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An example of applying a wave pattern to a group of servos and the LEDs.
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Press "Boot" to exit the program.
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*/
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using namespace plasma;
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using namespace servo;
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// The speed that the LEDs will cycle at
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const uint SPEED = 5;
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// The brightness of the LEDs
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constexpr float BRIGHTNESS = 0.4;
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// How many times to update LEDs and Servos per second
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const uint UPDATES = 50;
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// How far from zero to move the servos
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constexpr float SERVO_EXTENT = 80.0f;
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// Create a servo cluster for pins 0 to 7, using PIO 0 and State Machine 0
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const uint START_PIN = servo2040::SERVO_1;
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const uint END_PIN = servo2040::SERVO_8;
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const uint NUM_SERVOS = (END_PIN - START_PIN) + 1;
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ServoCluster servos = ServoCluster(pio0, 0, START_PIN, NUM_SERVOS);
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// Create the LED bar, using PIO 1 and State Machine 0
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WS2812 led_bar(servo2040::NUM_LEDS, pio1, 0, servo2040::LED_DATA);
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// Create the user button
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Button user_sw(servo2040::USER_SW);
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int main() {
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stdio_init_all();
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// Initialise the servo cluster
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servos.init();
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// Start updating the LED bar
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led_bar.start();
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float offset = 0.0f;
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// Make rainbows until the user button is pressed
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while(!user_sw.raw()) {
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offset += (float)SPEED / 1000.0f;
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// Update all the LEDs
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for(auto i = 0u; i < servo2040::NUM_LEDS; i++) {
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float hue = (float)i / (float)(servo2040::NUM_LEDS * 4);
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led_bar.set_hsv(i, hue + offset, 1.0f, BRIGHTNESS);
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}
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// Update all the Servos
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for(auto i = 0u; i < servos.count(); i++) {
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float angle = (((float)i / (float)servos.count()) + offset) * (float)M_TWOPI;
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servos.value(i, sin(angle) * SERVO_EXTENT, false);
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}
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// We have now set all the servo values, so load them
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servos.load();
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sleep_ms(1000 / UPDATES);
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}
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// Stop all the servos
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servos.disable_all();
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// Turn off the LED bar
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led_bar.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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