112 lines
3.2 KiB
C++
112 lines
3.2 KiB
C++
#include <cstdio>
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#include "pico/stdlib.h"
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#include "servo2040.hpp"
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#include "analogmux.hpp"
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#include "analog.hpp"
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#include "button.hpp"
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/*
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An example of how to use Servo 2040's current measuring
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ability and display the value on the onboard LED bar.
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Press "Boot" to exit the program.
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*/
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using namespace plasma;
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using namespace servo;
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// The brightness of the LEDs
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constexpr float BRIGHTNESS = 0.4f;
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// How many times to update LEDs and Servos per second
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const uint UPDATES = 50;
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// The maximum current, in amps, to show on the meter
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constexpr float MAX_CURRENT = 3.0f;
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// The number of current measurements to take per reading
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const uint SAMPLES = 50;
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// The time between each current measurement
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const uint TIME_BETWEEN_MS = 1;
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// Create a servo cluster for pins 0 to 7, using PIO 0 and State Machine 0
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const uint START_PIN = servo2040::SERVO_1;
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const uint END_PIN = servo2040::SERVO_8;
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const uint NUM_SERVOS = (END_PIN - START_PIN) + 1;
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ServoCluster servos = ServoCluster(pio0, 0, START_PIN, NUM_SERVOS);
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// Set up the shared analog inputs
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Analog cur_adc = Analog(servo2040::SHARED_ADC, servo2040::CURRENT_GAIN,
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servo2040::SHUNT_RESISTOR, servo2040::CURRENT_OFFSET);
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// Set up the analog multiplexer, including the pin for controlling pull-up/pull-down
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AnalogMux mux = AnalogMux(servo2040::ADC_ADDR_0, servo2040::ADC_ADDR_1, servo2040::ADC_ADDR_2,
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PIN_UNUSED, servo2040::SHARED_ADC);
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// Create the LED bar, using PIO 1 and State Machine 0
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WS2812 led_bar(servo2040::NUM_LEDS, pio1, 0, servo2040::LED_DATA);
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// Create the user button
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Button user_sw(servo2040::USER_SW);
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int main() {
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stdio_init_all();
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// Initialise the servo cluster
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servos.init();
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// Start updating the LED bar
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led_bar.start();
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// Enable all servos (this puts them at the middle).
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// The servos are not going to be moved, but are activated to give a current draw
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servos.enable_all();
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// Read sensors until the user button is pressed
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while(!user_sw.raw()) {
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// Select the current sense
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mux.select(servo2040::CURRENT_SENSE_ADDR);
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// Read the current sense several times and average the result
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float current = 0.0f;
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for(auto i = 0u; i < SAMPLES; i++) {
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current += cur_adc.read_current();
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sleep_ms(TIME_BETWEEN_MS);
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}
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current /= SAMPLES;
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// Print out the current sense value
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printf("Current = %f\n", current);
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// Convert the current to a percentage of the maximum we want to show
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float percent = (current / MAX_CURRENT);
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// Update all the LEDs
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for(auto i = 0u; i < servo2040::NUM_LEDS; i++) {
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// Calculate the LED's hue, with Red for high currents and Green for low
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float hue = (1.0f - (float)i / (float)(servo2040::NUM_LEDS - 1)) * 0.333f;
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// Calculate the current level the LED represents
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float level = (i + 0.5f) / servo2040::NUM_LEDS;
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// If the percent is above the level, light the LED, otherwise turn it off
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if(percent >= level)
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led_bar.set_hsv(i, hue, 1.0f, BRIGHTNESS);
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else
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led_bar.set_hsv(i, hue, 1.0f, 0.0f);
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}
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}
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// Stop all the servos
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servos.disable_all();
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// Turn off the LED bar
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led_bar.clear();
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// Sleep a short time so the clear takes effect
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sleep_ms(100);
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}
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