kopia lustrzana https://github.com/pimoroni/pimoroni-pico
76 wiersze
1.5 KiB
C++
76 wiersze
1.5 KiB
C++
#include "pico/stdlib.h"
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#include "motor2040.hpp"
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/*
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An example of how to drive a motor smoothly between random speeds,
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with the help of it's attached encoder and PID control.
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Press "Boot" to exit the program.
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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 = 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 motor when sweeping
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constexpr float SWEEP_EXTENT = 90.0f;
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// Create a motor on pin 0 and 1
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Motor m = Motor(motor2040::MOTOR_A);
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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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// Go at full neative
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m.full_negative();
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sleep_ms(2000);
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// Go at full positive
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m.full_positive();
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sleep_ms(2000);
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// Stop the motor
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m.stop();
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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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m.speed(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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m.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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m.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 motor
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m.disable();
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}
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