132 lines
3.2 KiB
C++
132 lines
3.2 KiB
C++
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#pragma once
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#include "pico/stdlib.h"
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#include "motor.hpp"
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#include "encoder.hpp"
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#include "servo.hpp"
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#include "ws2812.hpp"
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#include "pimoroni_i2c.hpp"
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using namespace motor;
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using namespace encoder;
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using namespace servo;
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using namespace plasma;
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using namespace pimoroni;
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namespace inventor {
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// IO Pin Constants
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const uint GP0 = 0;
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const uint GP1 = 1;
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const uint GP2 = 2;
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const uint A0 = 26;
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const uint A1 = 27;
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const uint A2 = 28;
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const uint GPIOS[] = {GP0, GP1, GP2, A0, A1, A2};
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const uint ADCS[] = {A0, A1, A2};
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// Index Constants
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const uint MOTOR_A = 0;
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const uint MOTOR_B = 1;
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const uint SERVO_1 = 0;
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const uint SERVO_2 = 1;
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const uint SERVO_3 = 2;
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const uint SERVO_4 = 3;
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const uint SERVO_5 = 4;
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const uint SERVO_6 = 5;
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const uint LED_GP0 = 0;
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const uint LED_GP1 = 1;
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const uint LED_GP2 = 2;
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const uint LED_A0 = 3;
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const uint LED_A1 = 4;
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const uint LED_A2 = 5;
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const uint LED_SERVO_1 = 6;
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const uint LED_SERVO_2 = 7;
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const uint LED_SERVO_3 = 8;
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const uint LED_SERVO_4 = 9;
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const uint LED_SERVO_5 = 10;
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const uint LED_SERVO_6 = 11;
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// Count Constants
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const uint NUM_GPIOS = 6;
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const uint NUM_ADCS = 3;
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const uint NUM_MOTORS = 2;
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const uint NUM_SERVOS = 6;
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const uint NUM_LEDS = 12;
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class Inventor2040W {
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//--------------------------------------------------
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// Constants
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//--------------------------------------------------
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public:
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static const uint AMP_EN_PIN = 3;
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static const uint I2C_SDA_PIN = 4;
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static const uint I2C_SCL_PIN = 5;
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static constexpr pin_pair MOTOR_A_PINS = {6, 7};
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static constexpr pin_pair MOTOR_B_PINS = {8, 9};
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static constexpr pin_pair ENCODER_A_PINS = {19, 18};
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static constexpr pin_pair ENCODER_B_PINS = {17, 16};
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static const uint SERVO_1_PIN = 10;
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static const uint SERVO_2_PIN = 11;
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static const uint SERVO_3_PIN = 12;
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static const uint SERVO_4_PIN = 13;
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static const uint SERVO_5_PIN = 14;
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static const uint SERVO_6_PIN = 15;
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static const uint LED_DATA_PIN = 20;
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static const uint PWM_AUDIO_PIN = 21;
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static const uint USER_SW_PIN = 22;
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static constexpr float AMP_CORRECTION = 4.0f;
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static constexpr float DEFAULT_VOLUME = 0.2f;
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static constexpr float SILENCE_FREQUENCY = 44100.0f;
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static constexpr float DEFAULT_GEAR_RATIO = 50.0f;
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//--------------------------------------------------
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// Variables
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//--------------------------------------------------
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public:
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Motor motors[NUM_MOTORS];
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Encoder encoders[NUM_MOTORS];
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Servo servos[NUM_SERVOS];
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WS2812 leds;
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I2C i2c;
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private:
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float audio_volume;
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//--------------------------------------------------
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// Constructors/Destructor
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//--------------------------------------------------
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public:
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Inventor2040W(float motor_gear_ratio = DEFAULT_GEAR_RATIO);
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//--------------------------------------------------
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// Methods
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//--------------------------------------------------
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public:
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bool init(bool init_motors = true, bool init_servos = true);
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bool switch_pressed();
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bool play_tone(float frequency);
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void play_silence();
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void stop_playing();
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float volume() const;
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void volume(float volume);
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void mute_audio();
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void unmute_audio();
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};
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}
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