kopia lustrzana https://github.com/pimoroni/pimoroni-pico
61 wiersze
1.6 KiB
C++
61 wiersze
1.6 KiB
C++
#include <cstdio>
|
|
#include "pico/stdlib.h"
|
|
|
|
#include "motor2040.hpp"
|
|
#include "button.hpp"
|
|
|
|
/*
|
|
Demonstrates how to read the angles of Motor 2040's four encoders.
|
|
|
|
Press "Boot" to exit the program.
|
|
*/
|
|
|
|
using namespace motor;
|
|
using namespace encoder;
|
|
|
|
// The gear ratio of the motor
|
|
constexpr float GEAR_RATIO = 50.0f;
|
|
|
|
// The counts per revolution of the motor's output shaft
|
|
constexpr float COUNTS_PER_REV = MMME_CPR * GEAR_RATIO;
|
|
|
|
|
|
// Create an array of encoder pointers
|
|
const pin_pair encoder_pins[] = {motor2040::ENCODER_A, motor2040::ENCODER_B,
|
|
motor2040::ENCODER_C, motor2040::ENCODER_D};
|
|
const char* ENCODER_NAMES[] = {"A", "B", "C", "D"};
|
|
const uint NUM_ENCODERS = count_of(encoder_pins);
|
|
Encoder *encoders[NUM_ENCODERS];
|
|
|
|
// Create the user button
|
|
Button user_sw(motor2040::USER_SW);
|
|
|
|
|
|
int main() {
|
|
stdio_init_all();
|
|
|
|
// Fill the array of motors, and initialise them. Up to 8 motors can be created
|
|
for(auto e = 0u; e < NUM_ENCODERS; e++) {
|
|
encoders[e] = new Encoder(pio0, e, encoder_pins[e], PIN_UNUSED, NORMAL_DIR, COUNTS_PER_REV, true);
|
|
encoders[e]->init();
|
|
}
|
|
|
|
// Uncomment the below lines to reverse
|
|
// the counting direction of an encoder
|
|
// encoders[0].direction(REVERSED_DIR);
|
|
// encoders[1].direction(REVERSED_DIR);
|
|
// encoders[2].direction(REVERSED_DIR);
|
|
// encoders[3].direction(REVERSED_DIR);
|
|
|
|
// Read the encoders until the user button is pressed
|
|
while(!user_sw.raw()) {
|
|
// Print out the angle of each encoder
|
|
for(auto e = 0u; e < NUM_ENCODERS; e++) {
|
|
printf("%s = %f, ", ENCODER_NAMES[e], encoders[e]->degrees());
|
|
}
|
|
printf("\n");
|
|
|
|
sleep_ms(100);
|
|
}
|
|
}
|