pimoroni-pico/examples/motor2040/README.md

Motor 2040 C++ Examples

• Motor Examples
  • Single Motor
  • Multiple Motors
  • Motor Cluster
  • Motor Wave
• Function Examples
  • Read Sensors
  • Read Encoders
  • Motor Profiler
  • LED Rainbow
  • Turn Off LEDs
• Control Examples
  • Position Control
  • Velocity Control
  • Position on Velocity Control
  • Reactive Encoder
  • Quad Position Wave
  • Quad Velocity Sequence
• Tuning Examples
  • Position Tuning
  • Velocity Tuning
  • Position on Velocity Tuning

Motor Examples

Single Motor

motor2040_single_motor.cpp

Demonstrates how to create a Motor object and control it.

Multiple Motors

motor2040_multiple_motors.cpp

Demonstrates how to create multiple Motor objects and control them together.

Motor Cluster

motor2040_motor_cluster.cpp

Demonstrates how to create a MotorCluster object to control multiple motors at once.

Motor Wave

motor2040_motor_wave.cpp

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

Function Examples

Read Sensors

motor2040_read_sensors.cpp

Shows how to initialise and read the 2 external and 6 internal sensors of Motor 2040.

Read Encoders

motor2040_read_encoders.cpp

Demonstrates how to read the angles of Motor 2040's four encoders.

Motor Profiler

motor2040_motor_profiler.cpp

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

LED Rainbow

motor2040_led_rainbow.cpp

Displays a rotating rainbow pattern on the Motor 2040's onboard LED.

Control Examples

Position Control

motor2040_position_control.cpp

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

motor2040_velocity_control.cpp

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

motor2040_position_on_velocity_control.cpp

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

motor2040_reactive_encoder.cpp

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.

Quad Position Wave

motor2040_quad_position_wave.cpp

A demonstration of driving all four of Motor 2040's motor outputs between positions, with the help of their attached encoders and PID control.

Quad Velocity Sequence

motor2040_quad_velocity_sequence.cpp

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

Tuning Examples

Position Tuning

motor2040_position_tuning.cpp

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

motor2040_velocity_tuning.cpp

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

motor2040_position_on_velocity_tuning.cpp

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.