kopia lustrzana https://github.com/pimoroni/pimoroni-pico
66 wiersze
1.6 KiB
Python
66 wiersze
1.6 KiB
Python
import time
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import math
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from motor import Motor, motor2040
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"""
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Demonstrates how to create multiple Motor objects and control them together.
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"""
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# Create a list of motors
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MOTOR_PINS = [motor2040.MOTOR_A, motor2040.MOTOR_B, motor2040.MOTOR_C, motor2040.MOTOR_D]
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motors = [Motor(pins) for pins in MOTOR_PINS]
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# Enable all motors
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for m in motors:
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m.enable()
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time.sleep(2)
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# Drive at full positive
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for m in motors:
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m.full_positive()
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time.sleep(2)
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# Stop moving
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for m in motors:
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m.stop()
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time.sleep(2)
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# Drive at full negative
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for m in motors:
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m.full_negative()
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time.sleep(2)
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# Coast to a gradual stop
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for m in motors:
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m.coast()
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time.sleep(2)
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SWEEPS = 2 # How many speed sweeps of the motors to perform
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STEPS = 10 # The number of discrete sweep steps
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STEPS_INTERVAL = 0.5 # The time in seconds between each step of the sequence
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SPEED_EXTENT = 1.0 # How far from zero to drive the motors when sweeping
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# Do a sine speed sweep
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for j in range(SWEEPS):
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for i in range(360):
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speed = math.sin(math.radians(i)) * SPEED_EXTENT
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for m in motors:
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m.speed(speed)
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time.sleep(0.02)
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# Do a stepped speed sweep
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for j in range(SWEEPS):
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for i in range(0, STEPS):
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for m in motors:
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m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
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time.sleep(STEPS_INTERVAL)
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for i in range(0, STEPS):
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for m in motors:
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m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
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time.sleep(STEPS_INTERVAL)
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# Disable the motors
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for m in motors:
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m.disable()
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