57 lines
1.9 KiB
Python
57 lines
1.9 KiB
Python
import time
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from machine import Pin
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from pimoroni import Analog, AnalogMux, Button
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from motor import motor2040
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"""
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Shows how to initialise and read the 2 external
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and 6 internal sensors of Motor 2040.
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Press "Boot" to exit the program.
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"""
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# Set up the shared analog inputs
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sen_adc = Analog(motor2040.SHARED_ADC)
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vol_adc = Analog(motor2040.SHARED_ADC, motor2040.VOLTAGE_GAIN)
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cur_adc = Analog(motor2040.SHARED_ADC, motor2040.CURRENT_GAIN,
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motor2040.SHUNT_RESISTOR, motor2040.CURRENT_OFFSET)
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# Set up the analog multiplexer, including the pin for controlling pull-up/pull-down
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mux = AnalogMux(motor2040.ADC_ADDR_0, motor2040.ADC_ADDR_1, motor2040.ADC_ADDR_2,
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muxed_pin=Pin(motor2040.SHARED_ADC))
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# Set up the sensor addresses and have them pulled down by default
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sensor_addrs = list(range(motor2040.SENSOR_1_ADDR, motor2040.SENSOR_2_ADDR + 1))
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for addr in sensor_addrs:
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mux.configure_pull(addr, Pin.PULL_DOWN)
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# Set up the pull-up for the fault sense
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mux.configure_pull(motor2040.FAULT_SENSE_ADDR, Pin.PULL_UP)
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# Create the user button
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user_sw = Button(motor2040.USER_SW)
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# Read sensors until the user button is pressed
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while not user_sw.raw():
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# Read each sensor in turn and print its voltage
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for i in range(len(sensor_addrs)):
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mux.select(sensor_addrs[i])
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print("S", i + 1, " = ", round(sen_adc.read_voltage(), 3), sep="", end=", ")
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# Read the voltage sense and print the value
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mux.select(motor2040.VOLTAGE_SENSE_ADDR)
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print("Voltage =", round(vol_adc.read_voltage(), 4), end=", ")
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# Read the current sense's of each motor and print the value
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for i in range(motor2040.NUM_MOTORS):
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mux.select(i + motor2040.CURRENT_SENSE_A_ADDR)
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print("C", i + 1, " = ", cur_adc.read_current(), sep="", end=", ")
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# Read the fault sense and print the value
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mux.select(motor2040.FAULT_SENSE_ADDR)
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print("Fault =", not mux.read())
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time.sleep(0.5)
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