kopia lustrzana https://github.com/pimoroni/pimoroni-pico
83 wiersze
1.9 KiB
C++
83 wiersze
1.9 KiB
C++
#include "pico/stdlib.h"
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#include "motor2040.hpp"
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/*
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Demonstrates how to create multiple Motor objects and control them together.
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*/
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using namespace motor;
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// How many sweeps of the motors to perform
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const uint SWEEPS = 2;
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// The number of discrete sweep steps
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const uint STEPS = 10;
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// The time in milliseconds between each step of the sequence
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const uint STEPS_INTERVAL_MS = 500;
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// How far from zero to drive the motors when sweeping
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constexpr float SPEED_EXTENT = 1.0f;
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// Create a motor cluster, using PIO 0 and State Machine 0
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const pin_pair motor_pins[] = {motor2040::MOTOR_A, motor2040::MOTOR_B,
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motor2040::MOTOR_C, motor2040::MOTOR_D};
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const uint NUM_MOTORS = count_of(motor_pins);
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MotorCluster motors = MotorCluster(pio0, 0, motor_pins, NUM_MOTORS);
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int main() {
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stdio_init_all();
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// Initialise the motor cluster
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motors.init();
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// Enable all motors
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motors.enable_all();
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sleep_ms(2000);
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// Drive at full positive
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motors.all_full_positive();
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sleep_ms(2000);
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// Stop all moving
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motors.stop_all();
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sleep_ms(2000);
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// Drive at full negative
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motors.all_full_negative();
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sleep_ms(2000);
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// Coast all to a gradual stop
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motors.coast_all();
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sleep_ms(2000);
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// Do a sine speed sweep
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for(auto j = 0u; j < SWEEPS; j++) {
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for(auto i = 0u; i < 360; i++) {
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float speed = sin(((float)i * (float)M_PI) / 180.0f) * SPEED_EXTENT;
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motors.all_to_speed(speed);
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sleep_ms(20);
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}
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}
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// Do a stepped speed sweep
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for(auto j = 0u; j < SWEEPS; j++) {
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for(auto i = 0u; i < STEPS; i++) {
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motors.all_to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT);
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sleep_ms(STEPS_INTERVAL_MS);
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}
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for(auto i = 0u; i < STEPS; i++) {
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motors.all_to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT);
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sleep_ms(STEPS_INTERVAL_MS);
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}
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}
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// Disable the motors
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motors.disable_all();
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// Sleep a short time so the disable takes effect
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sleep_ms(100);
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}
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