Added MP examples for pico motor shim, and tweaked others

examples/pico_motor_shim/song/demo.cpp

@@ -39,13 +39,8 @@ static const uint STATIONARY_TOGGLE_US = 2000;
 
 
 Button button_a(pico_motor_shim::BUTTON_A, Polarity::ACTIVE_LOW, 0);
-#ifdef USE_FAST_DECAY
+Motor motor_1(pico_motor_shim::MOTOR_1);
-  Motor motor_1(pico_motor_shim::MOTOR_1, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, FAST_DECAY);
+Motor motor_2(pico_motor_shim::MOTOR_2);
-  Motor motor_2(pico_motor_shim::MOTOR_2, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, FAST_DECAY);
-#else
-  Motor motor_1(pico_motor_shim::MOTOR_1, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, SLOW_DECAY);
-  Motor motor_2(pico_motor_shim::MOTOR_2, NORMAL_DIR, MotorState::DEFAULT_SPEED_SCALE, MotorState::DEFAULT_FREQUENCY, SLOW_DECAY);
-#endif
 
 static bool button_toggle = false;
 
@@ -70,6 +65,11 @@ int main() {
   gpio_init(PICO_DEFAULT_LED_PIN);
   gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
 
+  #ifdef USE_FAST_DECAY
+    motor_1.decay_mode(FAST_DECAY);
+    motor_2.decay_mode(FAST_DECAY);
+  #endif
+
   //Initialise the motor
   if(!motor_1.init() || !motor_2.init()) {
     printf("Cannot initialise the motors. Check the provided parameters\n");

micropython/examples/motor2040/multiple_motors.py

@@ -45,8 +45,8 @@ SPEED_EXTENT = 1.0      # How far from zero to drive the motors when sweeping
 for j in range(SWEEPS):
     for i in range(360):
         speed = math.sin(math.radians(i)) * SPEED_EXTENT
-        for s in motors:
+        for m in motors:
-            s.speed(speed)
+            m.speed(speed)
         time.sleep(0.02)
 
 # Do a stepped speed sweep

micropython/examples/motor2040/quad_velocity_sequence.py

@@ -28,7 +28,7 @@ TIME_FOR_EACH_MOVE = 2                  # The time to travel between each value
 UPDATES_PER_MOVE = TIME_FOR_EACH_MOVE * UPDATES
 PRINT_DIVIDER = 4                       # How many of the updates should be printed (i.e. 2 would be every other update)
 
-DRIVING_SPEED = 1.0                     # The speed to drive the wheels at
+DRIVING_SPEED = 1.0                     # The speed to drive the wheels at, from 0.0 to SPEED_SCALE
 
 # PID values
 VEL_KP = 30.0                           # Velocity proportional (P) gain

micropython/examples/pico_motor_shim/dual_motors.py

@@ -0,0 +1,71 @@
+import time
+import math
+from motor import Motor, pico_motor_shim
+# from pimoroni import REVERSED_DIR
+
+"""
+Demonstrates how to create two Motor objects and control them together.
+"""
+
+# Create a list of motors
+MOTOR_PINS = [pico_motor_shim.MOTOR_1, pico_motor_shim.MOTOR_2]
+motors = [Motor(pins) for pins in MOTOR_PINS]
+
+# Uncomment the below lines (and the top import) to
+# reverse the driving direction of a motor
+# motors[0].direction(REVERSED_DIR)
+# motors[1].direction(REVERSED_DIR)
+
+# Enable all motors
+for m in motors:
+    m.enable()
+time.sleep(2)
+
+# Drive at full positive
+for m in motors:
+    m.full_positive()
+time.sleep(2)
+
+# Stop moving
+for m in motors:
+    m.stop()
+time.sleep(2)
+
+# Drive at full negative
+for m in motors:
+    m.full_negative()
+time.sleep(2)
+
+# Coast to a gradual stop
+for m in motors:
+    m.coast()
+time.sleep(2)
+
+
+SWEEPS = 2              # How many speed sweeps of the motors to perform
+STEPS = 10              # The number of discrete sweep steps
+STEPS_INTERVAL = 0.5    # The time in seconds between each step of the sequence
+SPEED_EXTENT = 1.0      # How far from zero to drive the motors when sweeping
+
+# Do a sine speed sweep
+for j in range(SWEEPS):
+    for i in range(360):
+        speed = math.sin(math.radians(i)) * SPEED_EXTENT
+        for m in motors:
+            m.speed(speed)
+        time.sleep(0.02)
+
+# Do a stepped speed sweep
+for j in range(SWEEPS):
+    for i in range(0, STEPS):
+        for m in motors:
+            m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
+        time.sleep(STEPS_INTERVAL)
+    for i in range(0, STEPS):
+        for m in motors:
+            m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
+        time.sleep(STEPS_INTERVAL)
+
+# Disable the motors
+for m in motors:
+    m.disable()

micropython/examples/pico_motor_shim/motor_song.py

@@ -0,0 +1,191 @@
+import gc
+import time
+from machine import Pin
+from motor import Motor, pico_motor_shim, SLOW_DECAY  # , FAST_DECAY
+from pimoroni import Button
+
+"""
+A fun example of how to change a motor's frequency to have it play a song.
+"""
+
+# This handy dictonary converts notes into frequencies
+TONES = {
+    "B0": 31,
+    "C1": 33,
+    "CS1": 35,
+    "D1": 37,
+    "DS1": 39,
+    "E1": 41,
+    "F1": 44,
+    "FS1": 46,
+    "G1": 49,
+    "GS1": 52,
+    "A1": 55,
+    "AS1": 58,
+    "B1": 62,
+    "C2": 65,
+    "CS2": 69,
+    "D2": 73,
+    "DS2": 78,
+    "E2": 82,
+    "F2": 87,
+    "FS2": 93,
+    "G2": 98,
+    "GS2": 104,
+    "A2": 110,
+    "AS2": 117,
+    "B2": 123,
+    "C3": 131,
+    "CS3": 139,
+    "D3": 147,
+    "DS3": 156,
+    "E3": 165,
+    "F3": 175,
+    "FS3": 185,
+    "G3": 196,
+    "GS3": 208,
+    "A3": 220,
+    "AS3": 233,
+    "B3": 247,
+    "C4": 262,
+    "CS4": 277,
+    "D4": 294,
+    "DS4": 311,
+    "E4": 330,
+    "F4": 349,
+    "FS4": 370,
+    "G4": 392,
+    "GS4": 415,
+    "A4": 440,
+    "AS4": 466,
+    "B4": 494,
+    "C5": 523,
+    "CS5": 554,
+    "D5": 587,
+    "DS5": 622,
+    "E5": 659,
+    "F5": 698,
+    "FS5": 740,
+    "G5": 784,
+    "GS5": 831,
+    "A5": 880,
+    "AS5": 932,
+    "B5": 988,
+    "C6": 1047,
+    "CS6": 1109,
+    "D6": 1175,
+    "DS6": 1245,
+    "E6": 1319,
+    "F6": 1397,
+    "FS6": 1480,
+    "G6": 1568,
+    "GS6": 1661,
+    "A6": 1760,
+    "AS6": 1865,
+    "B6": 1976,
+    "C7": 2093,
+    "CS7": 2217,
+    "D7": 2349,
+    "DS7": 2489,
+    "E7": 2637,
+    "F7": 2794,
+    "FS7": 2960,
+    "G7": 3136,
+    "GS7": 3322,
+    "A7": 3520,
+    "AS7": 3729,
+    "B7": 3951,
+    "C8": 4186,
+    "CS8": 4435,
+    "D8": 4699,
+    "DS8": 4978
+}
+
+# Put the notes for your song in here!
+SONG = ("F6", "F6", "E6", "F6", "F5", "P", "F5", "P", "C6", "AS5", "A5", "C6", "F6", "P", "F6", "P", "G6", "FS6", "G6", "G5", "P", "G5", "P", "G6", "F6", "E6", "D6", "C6", "P", "C6", "P", "D6", "E6", "F6", "E6", "D6", "C6", "D6", "C6", "AS5", "A5", "AS5", "A5", "G5", "F5", "G5", "F5", "E5", "D5", "C5", "D5", "E5", "F5", "G5", "AS5", "A5", "G5", "A5", "F5", "P", "F5")
+
+NOTE_DURATION = 0.150           # The time (in seconds) to play each note for. Change this to make the song play faster or slower
+STATIONARY_TOGGLE_US = 2000     # The time (in microseconds) between each direction switch of the motor when using STATIONARY_PLAYBACK
+STATIONARY_PLAYBACK = False     # Whether to play the song with or without the motors spinning
+DECAY_MODE = SLOW_DECAY         # The motor decay mode to use, either FAST_DECAY (0) or SLOW_DECAY (1). Affects the song's quality
+
+
+# Free up hardware resources ahead of creating new Motors
+# (avoids occasional issues where the song just stops playing)
+gc.collect()
+
+# Create two motor objects with a given decay mode
+motor_1 = Motor(pico_motor_shim.MOTOR_1, mode=DECAY_MODE)
+motor_2 = Motor(pico_motor_shim.MOTOR_2, mode=DECAY_MODE)
+
+# Create a pin for the Pico's onboard LED
+led = Pin(25, Pin.OUT)
+led.value(False)
+
+# Create the user button
+button_a = Button(pico_motor_shim.BUTTON_A, repeat_time=0)
+
+# Variable for recording if the button has been toggled
+# Starting as True makes the song play automatically
+button_toggle = True
+
+
+# Function to check if the button has been toggled
+def check_button_toggle():
+    global button_toggle
+    if button_a.read():
+        button_toggle = not button_toggle
+    return button_toggle
+
+
+while True:
+    # Has the button been toggled?
+    if check_button_toggle():
+        # Turn the Pico's LED on to show that the song has started
+        led.value(True)
+
+        # Play the song
+        for i in range(len(SONG)):
+            if check_button_toggle():
+                if SONG[i] == "P":
+                    # This is a "pause" note, so stop the motors
+                    motor_1.stop()
+                    motor_2.stop()
+                    time.sleep(NOTE_DURATION)
+                else:
+                    # Get the frequency of the note and set the motors to it
+                    freq = TONES[SONG[i]]
+                    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
+                        t = 0
+                        while t < NOTE_DURATION * 1000000:
+                            motor_1.duty(0.5)
+                            motor_2.duty(0.5)
+                            time.sleep_us(STATIONARY_TOGGLE_US)
+                            t += STATIONARY_TOGGLE_US
+
+                            motor_1.duty(-0.5)
+                            motor_2.duty(-0.5)
+                            time.sleep_us(STATIONARY_TOGGLE_US)
+                            t += STATIONARY_TOGGLE_US
+                    else:
+                        # Set the motors to 50% duty cycle to play the note whilst spinning
+                        motor_1.duty(0.5)
+                        motor_2.duty(0.5)
+                        time.sleep(NOTE_DURATION)
+            else:
+                # The button was toggled again, so stop playing the song
+                break
+
+        button_toggle = False
+
+        # The song has finished, so turn off the Pico's LED and disable the motors
+        led.value(False)
+        motor_1.disable()
+        motor_2.disable()
+
+    time.sleep(0.01)

micropython/examples/pico_motor_shim/movements.py

@@ -0,0 +1,109 @@
+import time
+from motor import Motor, pico_motor_shim
+from pimoroni import NORMAL_DIR, REVERSED_DIR
+
+"""
+An example of how to perform simple movements of a 2-wheeled driving robot.
+"""
+
+SPEED_SCALE = 5.4               # The scaling to apply to each motor's speed to match its real-world speed
+DRIVING_SPEED = SPEED_SCALE     # The speed to drive the wheels at, from 0.0 to SPEED_SCALE
+
+# Create the left and right motors with a given speed scale
+# Swap the numbers and directions if this is different to your setup
+left = Motor(pico_motor_shim.MOTOR_1, direction=NORMAL_DIR, speed_scale=SPEED_SCALE)
+right = Motor(pico_motor_shim.MOTOR_2, direction=REVERSED_DIR, speed_scale=SPEED_SCALE)
+
+
+# Helper functions for driving in common directions
+def forward(speed=DRIVING_SPEED):
+    left.speed(speed)
+    right.speed(speed)
+
+
+def backward(speed=DRIVING_SPEED):
+    left.speed(-speed)
+    right.speed(-speed)
+
+
+def turn_left(speed=DRIVING_SPEED):
+    left.speed(-speed)
+    right.speed(speed)
+
+
+def turn_right(speed=DRIVING_SPEED):
+    left.speed(speed)
+    right.speed(-speed)
+
+
+def curve_forward_left(speed=DRIVING_SPEED):
+    left.speed(0.0)
+    right.speed(speed)
+
+
+def curve_forward_right(speed=DRIVING_SPEED):
+    left.speed(speed)
+    right.speed(0.0)
+
+
+def curve_backward_left(speed=DRIVING_SPEED):
+    left.speed(0.0)
+    right.speed(-speed)
+
+
+def curve_backward_right(speed=DRIVING_SPEED):
+    left.speed(-speed)
+    right.speed(0.0)
+
+
+def stop():
+    left.stop()
+    right.stop()
+
+
+def coast():
+    left.coast()
+    right.coast()
+
+
+# Demo each of the move methods
+forward()
+time.sleep(1)
+
+backward()
+time.sleep(1)
+
+curve_forward_right()
+time.sleep(1)
+
+curve_forward_left()
+time.sleep(1)
+
+turn_right()
+time.sleep(1)
+
+forward(0.5 * DRIVING_SPEED)  # Half speed
+time.sleep(1)
+
+turn_left(0.5 * DRIVING_SPEED)  # Half speed
+time.sleep(1)
+
+curve_backward_right(0.75 * DRIVING_SPEED)  # Three quarters speed
+time.sleep(1)
+
+forward()  # Full speed
+time.sleep(0.5)
+
+coast()  # Come to a halt gently
+time.sleep(1)
+
+forward()
+time.sleep(0.5)
+
+stop()  # Apply the brakes
+time.sleep(1.0)
+
+
+# Disable the motors
+left.disable()
+right.disable()

micropython/examples/pico_motor_shim/single_motor.py

@@ -0,0 +1,54 @@
+import time
+import math
+from motor import Motor, pico_motor_shim
+
+"""
+Demonstrates how to create a Motor object and control it.
+"""
+
+# Create a motor
+m = Motor(pico_motor_shim.MOTOR_1)
+
+# Enable the motor
+m.enable()
+time.sleep(2)
+
+# Drive at full positive
+m.full_positive()
+time.sleep(2)
+
+# Stop moving
+m.stop()
+time.sleep(2)
+
+# Drive at full negative
+m.full_negative()
+time.sleep(2)
+
+# Coast to a gradual stop
+m.coast()
+time.sleep(2)
+
+
+SWEEPS = 2              # How many speed sweeps of the motor to perform
+STEPS = 10              # The number of discrete sweep steps
+STEPS_INTERVAL = 0.5    # The time in seconds between each step of the sequence
+SPEED_EXTENT = 1.0      # How far from zero to drive the motor when sweeping
+
+# Do a sine speed sweep
+for j in range(SWEEPS):
+    for i in range(360):
+        m.speed(math.sin(math.radians(i)) * SPEED_EXTENT)
+        time.sleep(0.02)
+
+# Do a stepped speed sweep
+for j in range(SWEEPS):
+    for i in range(0, STEPS):
+        m.to_percent(i, 0, STEPS, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
+        time.sleep(STEPS_INTERVAL)
+    for i in range(0, STEPS):
+        m.to_percent(i, STEPS, 0, 0.0 - SPEED_EXTENT, SPEED_EXTENT)
+        time.sleep(STEPS_INTERVAL)
+
+# Disable the motor
+m.disable()

micropython/examples/pico_motor_shim/stop_motors.py

@@ -0,0 +1,11 @@
+from motor import Motor, pico_motor_shim
+
+"""
+A simple program that stops the motors.
+"""
+
+# Create two motor objects.
+# This will initialise the pins, stopping any
+# previous movement that may be stuck on
+m1 = Motor(pico_motor_shim.MOTOR_1)
+m2 = Motor(pico_motor_shim.MOTOR_2)