63 lines
1.6 KiB
Python
63 lines
1.6 KiB
Python
import gc
|
|
import time
|
|
import math
|
|
from pimoroni import Button
|
|
from plasma import WS2812
|
|
from motor import Motor, motor2040
|
|
|
|
"""
|
|
An example of applying a wave pattern to a group of motors and the LED.
|
|
|
|
Press "Boot" to exit the program.
|
|
|
|
NOTE: Plasma WS2812 uses the RP2040's PIO system, and as
|
|
such may have problems when running code multiple times.
|
|
If you encounter issues, try resetting your board.
|
|
"""
|
|
|
|
SPEED = 5 # The speed that the LEDs and motors will cycle at
|
|
BRIGHTNESS = 0.4 # The brightness of the LEDs
|
|
UPDATES = 50 # How many times to update LEDs and motors per second
|
|
SPEED_EXTENT = 1.0 # How far from zero to drive the motors
|
|
|
|
# Free up hardware resources ahead of creating a new MotorCluster
|
|
gc.collect()
|
|
|
|
# Create a list of motors
|
|
MOTOR_PINS = [motor2040.MOTOR_A, motor2040.MOTOR_B, motor2040.MOTOR_C, motor2040.MOTOR_D]
|
|
motors = [Motor(pins) for pins in MOTOR_PINS]
|
|
|
|
# Create the LED, using PIO 1 and State Machine 0
|
|
led = WS2812(motor2040.NUM_LEDS, 1, 0, motor2040.LED_DATA)
|
|
|
|
# Create the user button
|
|
user_sw = Button(motor2040.USER_SW)
|
|
|
|
# Start updating the LED
|
|
led.start()
|
|
|
|
|
|
offset = 0.0
|
|
|
|
# Make waves until the user button is pressed
|
|
while not user_sw.raw():
|
|
|
|
offset += SPEED / 1000.0
|
|
|
|
# Update the LED
|
|
led.set_hsv(0, offset / 2, 1.0, BRIGHTNESS)
|
|
|
|
# Update all the motors
|
|
for i in range(len(motors)):
|
|
angle = ((i / len(motors)) + offset) * math.pi
|
|
motors[i].speed(math.sin(angle) * SPEED_EXTENT)
|
|
|
|
time.sleep(1.0 / UPDATES)
|
|
|
|
# Stop all the motors
|
|
for m in motors:
|
|
m.disable()
|
|
|
|
# Turn off the LED
|
|
led.clear()
|