pimoroni-pico/micropython/examples/inventor2040w

Inventor 2040 W Micropython Examples

• Function Examples
  • Read ADCs
  • Read GPIOs
  • Read Encoders
  • Read Speeds
  • LED Rainbow
  • Reset Inventor
• Motor Examples
  • Single Motor
  • Dual Motors
  • Motor Wave
  • Position Control
  • Velocity Control
  • Position on Velocity Control
  • Reactive Encoder
  • Position Wave
  • Driving Sequence
• Motor Tuning
  • Motor Profiler
  • Position Tuning
  • Velocity Tuning
  • Position on Velocity Tuning
• Servo Examples
  • Single Servo
  • Multiple Servos
  • Simple Easing
  • Servo Wave
  • Calibration
• Audio Examples
  • Tone Song
  • Motor Song

Function Examples

Read ADCs

read_adcs.py

Shows how to initialise and read the 3 ADC headers of Inventor 2040 W.

Read GPIOs

read_gpios.py

Shows how to initialise and read the 6 GPIO headers of Inventor 2040 W.

Read Encoders

read_encoders.py

Demonstrates how to read the angles of Inventor 2040 W's two encoders.

Read Speeds

read_speeds.py

Demonstrates how to read the speeds of Inventor 2040 W's two encoders.

LED Rainbow

led_rainbow.py

Displays a rotating rainbow pattern on Inventor 2040 W's onboard LED bars.

Reset Inventor

reset_inventor.py

A simple program that resets Inventor 2040 W, turning off its LEDs, Motors, Servos, and Audio.

Motor Examples

Single Motor

motors/single_motor.py

Demonstrates how to control a motor on Inventor 2040 W.

Dual Motors

motors/dual_motors.py

Demonstrates how to control both motors on Inventor 2040 W.

Motor Wave

motors/motor_wave.py

An example of applying a wave pattern to Inventor 2040 W's motors and LEDs.

Position Control

motors/position_control.py

An example of how to move a motor smoothly between random positions, with the help of it's attached encoder and PID control.

Velocity Control

motors/velocity_control.py

An example of how to drive a motor smoothly between random speeds, with the help of it's attached encoder and PID control.

Position on Velocity Control

motors/position_on_velocity_control.py

An example of how to move a motor smoothly between random positions, with velocity limits, with the help of it's attached encoder and PID control.

Reactive Encoder

motors/reactive_encoder.py

A demonstration of how a motor with an encoder can be used as a programmable rotary encoder for user input, with force-feedback for arbitrary detents and end stops.

Position Wave

motors/position_wave.py

A demonstration of driving both of Inventor 2040 W's motor outputs between positions, with the help of their attached encoders and PID control.

Driving Sequence

motors/driving_sequence.py

A demonstration of driving both of Inventor 2040 W's motor outputs through a sequence of velocities, with the help of their attached encoders and PID control.

Motor Tuning

Motor Profiler

motors/tuning/motor_profiler.py

A program that profiles the speed of a motor across its PWM duty cycle range using the attached encoder for feedback.

Position Tuning

motors/tuning/position_tuning.py

A program to aid in the discovery and tuning of motor PID values for position control. It does this by commanding the motor to move repeatedly between two setpoint angles and plots the measured response.

Velocity Tuning

motors/tuning/velocity_tuning.py

A program to aid in the discovery and tuning of motor PID values for velocity control. It does this by commanding the motor to drive repeatedly between two setpoint speeds and plots the measured response.

Position on Velocity Tuning

motors/tuning/position_on_velocity_tuning.py

A program to aid in the discovery and tuning of motor PID values for position on velocity control. It does this by commanding the motor to move repeatedly between two setpoint angles and plots the measured response.

Servo Examples

Single Servo

servos/single_servo.py

Demonstrates how to control a single servo on Inventor 2040 W.

Multiple Servos

servos/multiple_servos.py

Demonstrates how to control all of the servos on Inventor 2040 W.

Simple Easing

servos/simple_easing.py

An example of how to move a servo smoothly between random positions.

Servo Wave

servos/servo_wave.py

An example of applying a wave pattern to a group of servos and the LEDs.

Calibration

servos/calibration.py

Shows how to configure Inventor 2040 W's servos with different common calibrations, as well as a completely custom one.

Audio Examples

Tone Song

audio/tone_song.py

This example shows you how you can use Inventor 2040 W's audio output with a speaker to play different notes and string them together into a bleepy tune.

Motor Song

audio/motor_song.py

A fun example of how to change a motor's frequency to have it play a song.