pimoroni-pico/libraries/servo2040/servo2040.hpp

60 wiersze
1.5 KiB
C++

#pragma once
#include "pico/stdlib.h"
#include "ws2812.hpp"
#include "servo.hpp"
#include "servo_cluster.hpp"
namespace servo {
namespace servo2040 {
const uint SERVO_1 = 0;
const uint SERVO_2 = 1;
const uint SERVO_3 = 2;
const uint SERVO_4 = 3;
const uint SERVO_5 = 4;
const uint SERVO_6 = 5;
const uint SERVO_7 = 6;
const uint SERVO_8 = 7;
const uint SERVO_9 = 8;
const uint SERVO_10 = 9;
const uint SERVO_11 = 10;
const uint SERVO_12 = 11;
const uint SERVO_13 = 12;
const uint SERVO_14 = 13;
const uint SERVO_15 = 14;
const uint SERVO_16 = 15;
const uint SERVO_17 = 16;
const uint SERVO_18 = 17;
const uint NUM_SERVOS = 18;
const uint LED_DATA = 18;
const uint NUM_LEDS = 6;
const uint USER_SW = 23;
const uint ADC_ADDR_0 = 22;
const uint ADC_ADDR_1 = 24;
const uint ADC_ADDR_2 = 25;
const uint ADC0 = 26;
const uint ADC1 = 27;
const uint ADC2 = 28;
const uint SHARED_ADC = 29; // The pin used for the board's sensing features
const uint SENSOR_1_ADDR = 0b000;
const uint SENSOR_2_ADDR = 0b001;
const uint SENSOR_3_ADDR = 0b010;
const uint SENSOR_4_ADDR = 0b011;
const uint SENSOR_5_ADDR = 0b100;
const uint SENSOR_6_ADDR = 0b101;
const uint NUM_SENSORS = 6;
const uint VOLTAGE_SENSE_ADDR = 0b110;
const uint CURRENT_SENSE_ADDR = 0b111;
constexpr float SHUNT_RESISTOR = 0.003f;
constexpr float CURRENT_GAIN = 69;
constexpr float VOLTAGE_GAIN = 3.9f / 13.9f;
constexpr float CURRENT_OFFSET = -0.02f;
}
}