kopia lustrzana https://github.com/pimoroni/pimoroni-pico
Finished MP examples
ZodiusInfuser
rodzic
0efe210c4c
commit
56451bff30
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@ -6,13 +6,10 @@
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- [Motor Cluster](#motor-cluster)
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- [Motor Wave](#motor-wave)
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- [Stop Motors](#stop-motors)
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- [Encoder Examples](#encoder-examples)
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- [Read Encoders](#read-encoders)
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- [Motor Profiler](#motor-profiler)
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- [Function Examples](#function-examples)
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- [Read Sensors](#read-sensors)
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- [Sensor Feedback](#sensor-feedback)
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- [Current Meter](#current-meter)
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- [Read Encoders](#read-encoders)
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- [Motor Profiler](#motor-profiler)
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- [LED Rainbow](#led-rainbow)
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- [Turn Off LEDs](#turn-off-leds)
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- [Control Examples](#control-examples)
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@ -21,6 +18,7 @@
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- [Position on Velocity Control](#position-on-velocity-control)
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- [Reactive Encoder](#reactive-encoder)
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- [Quad Position Wave](#quad-position-wave)
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- [Quad Velocity Sequence](#quad-velocity-sequence)
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- [Tuning Examples](#tuning-examples)
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- [Position Tuning](#position-tuning)
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- [Velocity Tuning](#velocity-tuning)
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@ -59,7 +57,13 @@ An example of applying a wave pattern to a group of motors and the LEDs.
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A simple program that stops the motors.
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## Encoder Examples
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## Function Examples
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### Read Sensors
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[read_sensors.py](read_sensors.py)
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Shows how to initialise and read the 2 external and 6 internal sensors of Motor 2040.
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### Read Encoders
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[read_encoders.py](read_encoders.py)
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@ -74,26 +78,6 @@ A program that profiles the speed of a motor across its PWM
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duty cycle range using the attached encoder for feedback.
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## Function Examples
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### Read Sensors
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[read_sensors.py](read_sensors.py)
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TODO
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Shows how to initialise and read the 6 external and 2 internal sensors of Motor 2040.
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### Sensor Feedback
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[sensor_feedback.py](sensor_feedback.py)
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TODO
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Show how to read the 6 external sensors and display their values on the neighbouring LEDs.
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### Current Meter
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[current_meter.py](current_meter.py)
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TODO
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An example of how to use Motor 2040's current measuring ability and display the value on the onboard LED bar.
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### LED Rainbow
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[led_rainbow.py](led_rainbow.py)
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@ -135,7 +119,12 @@ A demonstration of how a motor with an encoder can be used as a programmable rot
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### Quad Position Wave
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[quad_position_wave.py](quad_position_wave.py)
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An demonstration of driving all four of Motor 2040's motor outputs between positions, with the help of their attached encoders and PID control.
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A demonstration of driving all four of Motor 2040's motor outputs between positions, with the help of their attached encoders and PID control.
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### Quad Velocity Sequence
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[quad_velocity_sequence.py](quad_velocity_sequence.py)
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A demonstration of driving all four of Motor 2040's motor outputs through a sequence of velocities, with the help of their attached encoders and PID control.
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## Tuning Examples
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@ -1,90 +0,0 @@
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import gc
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import time
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from machine import Pin
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from pimoroni import Analog, AnalogMux, Button
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from plasma import WS2812
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from servo import ServoCluster, servo2040
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"""
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An example of how to use Servo 2040's current measuring
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ability and display the value on the onboard LED bar.
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Press "Boot" to exit the program.
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NOTE: ServoCluster and Plasma WS2812 use the RP2040's PIO system,
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and as such may have problems when running code multiple times.
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If you encounter issues, try resetting your board.
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"""
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BRIGHTNESS = 0.4 # The brightness of the LEDs
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UPDATES = 50 # How many times to update LEDs and Servos per second
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MAX_CURRENT = 3.0 # The maximum current, in amps, to show on the meter
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SAMPLES = 50 # The number of current measurements to take per reading
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TIME_BETWEEN = 0.001 # The time between each current measurement
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# Free up hardware resources ahead of creating a new ServoCluster
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gc.collect()
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# Create a servo cluster for pins 0 to 7, using PIO 0 and State Machine 0
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START_PIN = servo2040.SERVO_1
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END_PIN = servo2040.SERVO_8
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servos = ServoCluster(pio=0, sm=0, pins=list(range(START_PIN, END_PIN + 1)))
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# Set up the shared analog inputs
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cur_adc = Analog(servo2040.SHARED_ADC, servo2040.CURRENT_GAIN,
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servo2040.SHUNT_RESISTOR, servo2040.CURRENT_OFFSET)
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# Set up the analog multiplexer, including the pin for controlling pull-up/pull-down
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mux = AnalogMux(servo2040.ADC_ADDR_0, servo2040.ADC_ADDR_1, servo2040.ADC_ADDR_2,
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muxed_pin=Pin(servo2040.SHARED_ADC))
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# Create the LED bar, using PIO 1 and State Machine 0
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led_bar = WS2812(servo2040.NUM_LEDS, 1, 0, servo2040.LED_DATA)
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# Create the user button
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user_sw = Button(servo2040.USER_SW)
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# Start updating the LED bar
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led_bar.start()
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# Enable all servos (this puts them at the middle).
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# The servos are not going to be moved, but are activated to give a current draw
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servos.enable_all()
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# Read sensors until the user button is pressed
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while user_sw.raw() is not True:
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# Select the current sense
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mux.select(servo2040.CURRENT_SENSE_ADDR)
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# Read the current sense several times and average the result
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current = 0
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for i in range(SAMPLES):
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current += cur_adc.read_current()
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time.sleep(TIME_BETWEEN)
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current /= SAMPLES
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# Print out the current sense value
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print("Current =", round(current, 4))
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# Convert the current to a percentage of the maximum we want to show
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percent = (current / MAX_CURRENT)
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# Update all the LEDs
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for i in range(servo2040.NUM_LEDS):
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# Calculate the LED's hue, with Red for high currents and Green for low
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hue = (1.0 - i / (servo2040.NUM_LEDS - 1)) * 0.333
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# Calculate the current level the LED represents
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level = (i + 0.5) / servo2040.NUM_LEDS
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# If the percent is above the level, light the LED, otherwise turn it off
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if percent >= level:
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led_bar.set_hsv(i, hue, 1.0, BRIGHTNESS)
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else:
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led_bar.set_hsv(i, hue, 1.0, 0.0)
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# Disable 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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@ -7,7 +7,7 @@ from encoder import Encoder, MMME_CPR
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from pimoroni import Button, PID, REVERSED_DIR
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"""
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An demonstration of driving all four of Motor 2040's motor outputs between
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A demonstration of driving all four of Motor 2040's motor outputs between
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positions, with the help of their attached encoders and PID control.
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Press "Boot" to exit the program.
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@ -0,0 +1,162 @@
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import gc
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import time
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from motor import Motor, motor2040
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from encoder import Encoder, MMME_CPR
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from pimoroni import Button, PID, REVERSED_DIR
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"""
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A demonstration of driving all four of Motor 2040's motor outputs through a
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sequence of velocities, with the help of their attached encoders and PID control.
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Press "Boot" to exit the program.
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"""
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GEAR_RATIO = 50 # The gear ratio of the motors
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COUNTS_PER_REV = MMME_CPR * GEAR_RATIO # The counts per revolution of each motor's output shaft
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SPEED_SCALE = 5.4 # The scaling to apply to each motor's speed to match its real-world speed
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UPDATES = 100 # How many times to update the motor per second
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UPDATE_RATE = 1 / UPDATES
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TIME_FOR_EACH_MOVE = 2 # The time to travel between each value
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UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES
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PRINT_DIVIDER = 4 # How many of the updates should be printed (i.e. 2 would be every other update)
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# PID values
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VEL_KP = 30.0 # Velocity proportional (P) gain
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VEL_KI = 0.0 # Velocity integral (I) gain
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VEL_KD = 0.4 # Velocity derivative (D) gain
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# Free up hardware resources ahead of creating a new Encoder
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gc.collect()
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# Create a list of motors with a given speed scale
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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, speed_scale=SPEED_SCALE) for pins in MOTOR_PINS]
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# Create a list of encoders, using PIO 0, with the given counts per revolution
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ENCODER_PINS = [motor2040.ENCODER_A, motor2040.ENCODER_B, motor2040.ENCODER_C, motor2040.ENCODER_D]
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ENCODER_NAMES = ["RR", "RL", "FL", "FR"]
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encoders = [Encoder(0, i, ENCODER_PINS[i], counts_per_rev=COUNTS_PER_REV, count_microsteps=True) for i in range(motor2040.NUM_MOTORS)]
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# Wheel friendly names
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FL = 2
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FR = 3
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RL = 1
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RR = 0
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# Reverse the direction of the B and D motors and encoders
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motors[FL].direction(REVERSED_DIR)
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motors[RL].direction(REVERSED_DIR)
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encoders[FL].direction(REVERSED_DIR)
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encoders[RL].direction(REVERSED_DIR)
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# Create the user button
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user_sw = Button(motor2040.USER_SW)
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# Create PID objects for position control
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vel_pids = [PID(VEL_KP, VEL_KI, VEL_KD, UPDATE_RATE) for i in range(motor2040.NUM_MOTORS)]
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# Enable the motor to get started
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for m in motors:
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m.enable()
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update = 0
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print_count = 0
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# Helper functions for driving in common directions
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def drive_forward(speed):
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vel_pids[FL].setpoint = speed
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vel_pids[FR].setpoint = speed
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vel_pids[RL].setpoint = speed
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vel_pids[RR].setpoint = speed
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def turn_right(speed):
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vel_pids[FL].setpoint = speed
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vel_pids[FR].setpoint = -speed
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vel_pids[RL].setpoint = speed
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vel_pids[RR].setpoint = -speed
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def strafe_right(speed):
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vel_pids[FL].setpoint = speed
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vel_pids[FR].setpoint = -speed
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vel_pids[RL].setpoint = -speed
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vel_pids[RR].setpoint = speed
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def stop():
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vel_pids[FL].setpoint = 0
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vel_pids[FR].setpoint = 0
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vel_pids[RL].setpoint = 0
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vel_pids[RR].setpoint = 0
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sequence = 0
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captures = [None] * motor2040.NUM_MOTORS
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# Continually move the motor until the user button is pressed
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while user_sw.raw() is not True:
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# Capture the state of all the encoders
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for i in range(motor2040.NUM_MOTORS):
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captures[i] = encoders[i].capture()
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# Calculate how far along this movement to be
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percent_along = min(update / UPDATES_PER_MOVE, 1.0)
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for i in range(motor2040.NUM_MOTORS):
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# Calculate the acceleration to apply to the motor to move it closer to the velocity setpoint
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accel = vel_pids[i].calculate(captures[i].revolutions_per_second)
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# Accelerate or decelerate the motor
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motors[i].speed(motors[i].speed() + (accel * UPDATE_RATE))
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# Print out the current motor values, but only on every multiple
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if print_count == 0:
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for i in range(len(motors)):
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print(ENCODER_NAMES[i], "=", captures[i].revolutions_per_second, end=", ")
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print()
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# Increment the print count, and wrap it
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print_count = (print_count + 1) % PRINT_DIVIDER
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update += 1 # Move along in time
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# Have we reached the end of this movement?
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if update >= UPDATES_PER_MOVE:
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update = 0 # Reset the counter
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# Move on to the next part of the sequence
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sequence += 1
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# Loop the sequence back around
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if sequence >= 7:
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sequence = 0
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# Set the motor speeds, based on the sequence
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if sequence == 0:
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drive_forward(1.0)
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elif sequence == 1:
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drive_forward(-1.0)
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elif sequence == 2:
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turn_right(1.0)
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elif sequence == 3:
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turn_right(-1.0)
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elif sequence == 4:
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strafe_right(1.0)
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elif sequence == 5:
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strafe_right(-1.0)
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elif sequence == 6:
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stop()
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time.sleep(UPDATE_RATE)
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# Stop all the motors
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for m in motors:
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m.disable()
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import time
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from machine import Pin
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from pimoroni import Analog, AnalogMux, Button
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from servo import servo2040
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from motor import motor2040
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"""
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Shows how to initialise and read the 6 external
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and 2 internal sensors of Servo 2040.
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Shows how to initialise and read the 2 external
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and 6 internal sensors of Motor 2040.
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Press "Boot" to exit the program.
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"""
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# Set up the shared analog inputs
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sen_adc = Analog(servo2040.SHARED_ADC)
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vol_adc = Analog(servo2040.SHARED_ADC, servo2040.VOLTAGE_GAIN)
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cur_adc = Analog(servo2040.SHARED_ADC, servo2040.CURRENT_GAIN,
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servo2040.SHUNT_RESISTOR, servo2040.CURRENT_OFFSET)
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sen_adc = Analog(motor2040.SHARED_ADC)
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vol_adc = Analog(motor2040.SHARED_ADC, motor2040.VOLTAGE_GAIN)
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cur_adc = Analog(motor2040.SHARED_ADC, motor2040.CURRENT_GAIN,
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motor2040.SHUNT_RESISTOR, motor2040.CURRENT_OFFSET)
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# Set up the analog multiplexer, including the pin for controlling pull-up/pull-down
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mux = AnalogMux(servo2040.ADC_ADDR_0, servo2040.ADC_ADDR_1, servo2040.ADC_ADDR_2,
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muxed_pin=Pin(servo2040.SHARED_ADC))
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mux = AnalogMux(motor2040.ADC_ADDR_0, motor2040.ADC_ADDR_1, motor2040.ADC_ADDR_2,
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muxed_pin=Pin(motor2040.SHARED_ADC))
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# Set up the sensor addresses and have them pulled down by default
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sensor_addrs = list(range(servo2040.SENSOR_1_ADDR, servo2040.SENSOR_6_ADDR + 1))
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sensor_addrs = list(range(motor2040.SENSOR_1_ADDR, motor2040.SENSOR_2_ADDR + 1))
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for addr in sensor_addrs:
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mux.configure_pull(addr, Pin.PULL_DOWN)
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# Set up the pull-up for the fault sense
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mux.configure_pull(motor2040.FAULT_SENSE_ADDR, Pin.PULL_UP)
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# Create the user button
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user_sw = Button(servo2040.USER_SW)
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user_sw = Button(motor2040.USER_SW)
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# Read sensors until the user button is pressed
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@ -38,11 +41,16 @@ while user_sw.raw() is not True:
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print("S", i + 1, " = ", round(sen_adc.read_voltage(), 3), sep="", end=", ")
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# Read the voltage sense and print the value
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mux.select(servo2040.VOLTAGE_SENSE_ADDR)
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mux.select(motor2040.VOLTAGE_SENSE_ADDR)
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print("Voltage =", round(vol_adc.read_voltage(), 4), end=", ")
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# Read the current sense and print the value
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mux.select(servo2040.CURRENT_SENSE_ADDR)
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print("Current =", round(cur_adc.read_current(), 4))
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# Read the current sense's of each motor and print the value
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for i in range(motor2040.NUM_MOTORS):
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mux.select(i + motor2040.CURRENT_SENSE_A_ADDR)
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print("C", i + 1, "=", cur_adc.read_current(), sep="", end=", ")
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# Read the fault sense and print the value
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mux.select(motor2040.FAULT_SENSE_ADDR)
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print("Fault =", not mux.read())
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time.sleep(0.5)
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@ -1,58 +0,0 @@
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import time
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from machine import Pin
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from pimoroni import Analog, AnalogMux, Button
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from plasma import WS2812
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from servo import servo2040
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"""
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Show how to read the 6 external sensors and
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display their values on the neighbouring LEDs.
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Press "Boot" to exit the program.
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NOTE: Plasma WS2812 uses the RP2040's PIO system, and as
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such may have problems when running code multiple times.
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If you encounter issues, try resetting your board.
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"""
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BRIGHTNESS = 0.4 # The brightness of the LEDs
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UPDATES = 50 # How many times to update LEDs and Servos per second
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# Set up the shared analog inputs
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sen_adc = Analog(servo2040.SHARED_ADC)
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# Set up the analog multiplexer, including the pin for controlling pull-up/pull-down
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mux = AnalogMux(servo2040.ADC_ADDR_0, servo2040.ADC_ADDR_1, servo2040.ADC_ADDR_2,
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muxed_pin=Pin(servo2040.SHARED_ADC))
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# Set up the sensor addresses and have them pulled down by default
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sensor_addrs = list(range(servo2040.SENSOR_1_ADDR, servo2040.SENSOR_6_ADDR + 1))
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for addr in sensor_addrs:
|
||||
mux.configure_pull(addr, Pin.PULL_DOWN)
|
||||
|
||||
# Create the LED bar, using PIO 1 and State Machine 0
|
||||
led_bar = WS2812(servo2040.NUM_LEDS, 1, 0, servo2040.LED_DATA)
|
||||
|
||||
# Create the user button
|
||||
user_sw = Button(servo2040.USER_SW)
|
||||
|
||||
# Start updating the LED bar
|
||||
led_bar.start()
|
||||
|
||||
|
||||
# Read sensors until the user button is pressed
|
||||
while user_sw.raw() is not True:
|
||||
|
||||
# Read each sensor in turn and print its voltage
|
||||
for i in range(len(sensor_addrs)):
|
||||
mux.select(sensor_addrs[i])
|
||||
sensor_voltage = sen_adc.read_voltage()
|
||||
|
||||
# Calculate the LED's hue, with Green for high voltages and Blue for low
|
||||
hue = (2.0 - (sensor_voltage / 3.3)) * 0.333
|
||||
led_bar.set_hsv(i, hue, 1.0, BRIGHTNESS)
|
||||
|
||||
print("S", i + 1, " = ", round(sensor_voltage, 3), sep="", end=", ")
|
||||
print()
|
||||
|
||||
time.sleep(1.0 / UPDATES)
|
||||
|
|
@ -177,10 +177,9 @@ typedef struct _mp_obj_float_t {
|
|||
mp_obj_base_t base;
|
||||
mp_float_t value;
|
||||
} mp_obj_float_t;
|
||||
//TODO confirm below numbers are correct
|
||||
mp_obj_float_t motor2040_shunt_resistor = {{&mp_type_float}, 0.47f};
|
||||
mp_obj_float_t motor2040_voltage_gain = {{&mp_type_float}, 3.9f / 13.9f};
|
||||
mp_obj_float_t motor2040_current_offset = {{&mp_type_float}, -0.02f};
|
||||
mp_obj_float_t motor2040_current_offset = {{&mp_type_float}, -0.005f};
|
||||
|
||||
|
||||
/***** Globals Table *****/
|
||||
|
|
@ -231,7 +230,7 @@ STATIC const mp_rom_map_elem_t motor2040_globals_table[] = {
|
|||
{ MP_ROM_QSTR(MP_QSTR_SENSOR_2_ADDR), MP_ROM_INT(0b111) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_NUM_SENSORS), MP_ROM_INT(2) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_SHUNT_RESISTOR), MP_ROM_PTR(&motor2040_shunt_resistor) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_CURRENT_GAIN), MP_ROM_INT(5) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_CURRENT_GAIN), MP_ROM_INT(1) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_VOLTAGE_GAIN), MP_ROM_PTR(&motor2040_voltage_gain) },
|
||||
{ MP_ROM_QSTR(MP_QSTR_CURRENT_OFFSET), MP_ROM_PTR(&motor2040_current_offset) },
|
||||
};
|
||||
|
|
|
|||
|
|
@ -79,6 +79,12 @@ class AnalogMux:
|
|||
else:
|
||||
self.pulls[address] = pull
|
||||
|
||||
def read(self):
|
||||
if self.muxed_pin is not None:
|
||||
return self.muxed_pin.value()
|
||||
else:
|
||||
raise RuntimeError("there is no muxed pin assigned to this mux")
|
||||
|
||||
|
||||
class Button:
|
||||
def __init__(self, button, invert=True, repeat_time=200, hold_time=1000):
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue