kopia lustrzana https://github.com/pimoroni/pimoroni-pico
47 wiersze
1.4 KiB
Python
47 wiersze
1.4 KiB
Python
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import time
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from inventor import Inventor2040W, NUM_MOTORS # , MOTOR_A, MOTOR_B
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# from pimoroni import REVERSED_DIR
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"""
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Demonstrates how to read the speeds of Inventor 2040 W's two encoders.
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Press "User" to exit the program.
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"""
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# Wheel friendly names
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NAMES = ["LEFT", "RIGHT"]
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# Constants
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GEAR_RATIO = 50 # The gear ratio of the motor
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SPEED = 1.0 # The speed to drive the motors at
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SLEEP = 0.1 # The time to sleep between each capture
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# Create a new Inventor2040W
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board = Inventor2040W(motor_gear_ratio=GEAR_RATIO)
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# Uncomment the below lines (and the top imports) to
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# reverse the counting direction of an encoder
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# encoders[MOTOR_A].direction(REVERSED_DIR)
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# encoders[MOTOR_B].direction(REVERSED_DIR)
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# Set both motors driving
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for motor in board.motors:
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motor.speed(SPEED)
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# Variables for storing encoder captures
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captures = [None] * NUM_MOTORS
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# Read the encoders until the user button is pressed
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while not board.switch_pressed():
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# Capture the state of all the encoders since the last capture, SLEEP seconds ago
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for i in range(NUM_MOTORS):
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captures[i] = board.encoders[i].capture()
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# Print out the speeds from each encoder
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for i in range(NUM_MOTORS):
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print(NAMES[i], "=", captures[i].revolutions_per_second, end=", ")
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print()
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time.sleep(SLEEP)
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