kopia lustrzana https://github.com/pimoroni/pimoroni-pico
136 wiersze
4.3 KiB
C++
136 wiersze
4.3 KiB
C++
#include <stdio.h>
|
|
#include "pico/stdlib.h"
|
|
|
|
#include "pico_motor_shim.hpp"
|
|
#include "button.hpp"
|
|
|
|
/*
|
|
A fun example of how to change a motor's frequency to have it play a song.
|
|
|
|
Press "A" to start or stop the song.
|
|
*/
|
|
|
|
using namespace pimoroni;
|
|
using namespace motor;
|
|
|
|
// List frequencies (in hz) to play in sequence here. Use zero for when silence or a pause is wanted
|
|
// Song from PicoExplorer noise.py
|
|
constexpr float SONG[] = {1397, 1397, 1319, 1397, 698, 0, 698, 0, 1047, 932,
|
|
880, 1047, 1397, 0, 1397, 0, 1568, 1480, 1568, 784,
|
|
0, 784, 0, 1568, 1397, 1319, 1175, 1047, 0, 1047,
|
|
0, 1175, 1319, 1397, 1319, 1175, 1047, 1175, 1047, 932,
|
|
880, 932, 880, 784, 698, 784, 698, 659, 587, 523,
|
|
587, 659, 698, 784, 932, 880, 784, 880, 698, 0, 698};
|
|
constexpr uint SONG_LENGTH = count_of(SONG);
|
|
|
|
// The time (in seconds) to play each note for. Change this to make the song play faster or slower
|
|
const uint NOTE_DURATION_MS = 150;
|
|
|
|
// The time (in microseconds) between each direction switch of the motor when using STATIONARY_PLAYBACK
|
|
const uint STATIONARY_TOGGLE_US = 2000;
|
|
|
|
// Whether to play the song with or without the motors spinning
|
|
const bool STATIONARY_PLAYBACK = false;
|
|
|
|
// The motor decay mode to use, either FAST_DECAY (0) or SLOW_DECAY (1). Affects the song's quality
|
|
const DecayMode DECAY_MODE = SLOW_DECAY;
|
|
|
|
|
|
// Create two motor objects with a given decay mode
|
|
Motor motor_1(pico_motor_shim::MOTOR_1);
|
|
Motor motor_2(pico_motor_shim::MOTOR_2);
|
|
|
|
// Create the user button
|
|
Button button_a(pico_motor_shim::BUTTON_A, Polarity::ACTIVE_LOW, 0);
|
|
|
|
// Variable for recording if the button has been toggled
|
|
// Starting as true makes the song play automatically
|
|
static bool button_toggle = true;
|
|
|
|
// Checks if the button has been pressed, toggling a value that is also returned.
|
|
bool check_button_toggle() {
|
|
if(button_a.read()) {
|
|
button_toggle = !button_toggle;
|
|
}
|
|
return button_toggle;
|
|
}
|
|
|
|
|
|
int main() {
|
|
stdio_init_all();
|
|
|
|
#ifdef PICO_DEFAULT_LED_PIN
|
|
//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);
|
|
#endif
|
|
|
|
// Se the two motor's decay modes
|
|
motor_1.decay_mode(DECAY_MODE);
|
|
motor_2.decay_mode(DECAY_MODE);
|
|
|
|
// Initialise the motors
|
|
if(!motor_1.init() || !motor_2.init()) {
|
|
printf("Cannot initialise the motors. Check the provided parameters\n");
|
|
return 0;
|
|
}
|
|
|
|
while(true) {
|
|
// Has the button been toggled?
|
|
if(check_button_toggle()) {
|
|
|
|
#ifdef PICO_DEFAULT_LED_PIN
|
|
// Turn the Pico's LED on to show that the song has started
|
|
gpio_put(PICO_DEFAULT_LED_PIN, true);
|
|
#endif
|
|
|
|
// Play the song
|
|
for(uint i = 0; i < SONG_LENGTH && check_button_toggle(); i++) {
|
|
// Get the frequency of the note and attempt to set the motors to it
|
|
float freq = SONG[i];
|
|
if(motor_1.frequency(freq) && motor_2.frequency(freq)) {
|
|
if(STATIONARY_PLAYBACK) {
|
|
// Set the motors to 50% duty cycle to play the note, but alternate
|
|
// the direction so that the motor does not actually spin
|
|
uint t = 0;
|
|
while(t < NOTE_DURATION_MS * 1000) {
|
|
motor_1.duty(0.5f);
|
|
motor_2.duty(0.5f);
|
|
sleep_us(STATIONARY_TOGGLE_US);
|
|
t += STATIONARY_TOGGLE_US;
|
|
|
|
motor_1.duty(-0.5f);
|
|
motor_2.duty(-0.5f);
|
|
sleep_us(STATIONARY_TOGGLE_US);
|
|
t += STATIONARY_TOGGLE_US;
|
|
}
|
|
}
|
|
else {
|
|
// Set the motors to 50% duty cycle to play the note
|
|
motor_1.duty(0.5f);
|
|
motor_2.duty(0.5f);
|
|
sleep_ms(NOTE_DURATION_MS);
|
|
}
|
|
}
|
|
else {
|
|
// The frequency was invalid, so we are treating that to mean this is a pause note
|
|
motor_1.stop();
|
|
motor_2.stop();
|
|
sleep_ms(NOTE_DURATION_MS);
|
|
}
|
|
}
|
|
button_toggle = false;
|
|
|
|
// The song has finished, so turn off the Pico's LED and disable the motors
|
|
#ifdef PICO_DEFAULT_LED_PIN
|
|
gpio_put(PICO_DEFAULT_LED_PIN, false);
|
|
#endif
|
|
motor_1.disable();
|
|
motor_2.disable();
|
|
}
|
|
|
|
sleep_ms(10);
|
|
}
|
|
return 0;
|
|
}
|