Removed old balance demo

examples/pico_motor_shim/balance/CMakeLists.txt

@@ -1,16 +0,0 @@
-set(OUTPUT_NAME motor_shim_balance)
-
-add_executable(
-  ${OUTPUT_NAME}
-  demo.cpp
-)
-
-# enable usb output, disable uart output
-pico_enable_stdio_usb(${OUTPUT_NAME} 1)
-pico_enable_stdio_uart(${OUTPUT_NAME} 1)
-
-# Pull in pico libraries that we need
-target_link_libraries(${OUTPUT_NAME} pico_stdlib pico_motor_shim motor button breakout_msa301)
-
-# create map/bin/hex file etc.
-pico_add_extra_outputs(${OUTPUT_NAME})

examples/pico_motor_shim/balance/demo.cpp

@@ -1,119 +0,0 @@
-#include <stdio.h>
-#include "pico_motor_shim.hpp"
-
-#include "common/pimoroni_common.hpp"
-#include "motor.hpp"
-#include "button.hpp"
-#include "breakout_msa301.hpp"
-#include <math.h>
-
-/*
-A very basic balancing robot implementation, using an MSA301 to give accelerating values that are passed to the motors using proportional control.
-Press "A" to start and stop the balancer
-*/
-
-using namespace pimoroni;
-using namespace motor;
-
-static constexpr float TOP_SPEED = 1.0f; //A value between 0 and 1
-static constexpr float Z_BIAS_CORRECTION = 0.5f; //A magic number that seems to correct the MSA301's Z bias
-static constexpr float PROPORTIONAL = 0.03f;
-
-
-
-Button button_a(pico_motor_shim::BUTTON_A, Polarity::ACTIVE_LOW, 0);
-
-Motor motor_1(pico_motor_shim::MOTOR_1);//, Motor::DEFAULT_PWM_FREQUENCY, Motor::DEFAULT_DECAY_MODE);
-Motor motor_2(pico_motor_shim::MOTOR_2);//, Motor::DEFAULT_PWM_FREQUENCY, Motor::DEFAULT_DECAY_MODE);
-
-I2C i2c(BOARD::BREAKOUT_GARDEN);
-BreakoutMSA301 msa301(&i2c);
-
-static bool button_toggle = false;
-static float target_angle = 0.0f;
-
-/**
- * Checks if the button has been pressed, toggling a value that is also returned.
- */
-bool check_button_toggle() {
-  bool button_pressed = button_a.read();
-  if(button_pressed) {
-    button_toggle = !button_toggle;
-  }
-  return button_toggle;
-}
-
-/**
- * Takes and angle and wraps it around so that it stays within a -180 to +180 degree range.
- *
- * Note, it will only work for values between -540 and +540 degrees.
- * This can be resolved by changing the 'if's into 'while's, but for most uses it is unnecessary
- */
-float wrap_angle(float angle) {
-  if(angle <= -180.0f)
-    angle += 360.0f;
-
-  if(angle > 180.0f)
-    angle -= 360.0f;
-
-  return angle;
-}
-
-/**
- * The entry point of the program.
- */
-int main() {
-  stdio_init_all();
-
-  //Initialise the LED. We use this to indicate that the sequence is running.
-  gpio_init(PICO_DEFAULT_LED_PIN);
-  gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
-  for(int i = 0; i < 20; i++) {
-    gpio_put(PICO_DEFAULT_LED_PIN, true);
-    sleep_ms(250);
-    gpio_put(PICO_DEFAULT_LED_PIN, false);
-    sleep_ms(250);
-  }
-
-  //Initialise the two motors
-  if(!motor_1.init() || !motor_2.init()) {
-    printf("Cannot initialise motors. Check the provided parameters\n");
-    return 0;
-  }
-
-  if(!msa301.init()) {
-    printf("Cannot initialise msa301. Check that it is connected\n");
-    return 0;
-  }
-
-  printf("Ready\n");
-
-  while(true) {
-    //Turn the Pico's LED on to show that the sequence has started
-    gpio_put(PICO_DEFAULT_LED_PIN, true);
-    sleep_ms(50);
-
-    //Has the user has pressed the button to start the sequence
-    while(check_button_toggle()) {
-      float y = msa301.get_y_axis();
-      float z = msa301.get_z_axis() + Z_BIAS_CORRECTION;
-
-      float current_angle = (atan2(z, -y) * 180.0f) / M_PI;
-      float angle_error = wrap_angle(target_angle - current_angle);
-      printf("Y: %f, Z: %f, AngErr: %f\n", y, z, angle_error);
-
-      float output = angle_error * PROPORTIONAL; //No need to clamp this value as set_speed does this internally
-      motor_1.speed(output);
-      motor_2.speed(-output);
-
-      sleep_ms(1);
-    }
-
-    //The sequence loop has ended, so turn off the Pico's LED and disable the motors
-    gpio_put(PICO_DEFAULT_LED_PIN, false);
-    motor_1.disable();
-    motor_2.disable();
-    sleep_ms(50);
-  }
-  return 0;
-}