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Merge pull request #5 from ironsheep/develop
Changes to support Motor RevB board with both motors
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,190 @@ | ||
| '' ================================================================================================= | ||
| '' | ||
| '' File....... demo_dual_motor_hdmi.spin2 | ||
| '' Purpose.... Demonstrate driving a two-wheeled platform | ||
| '' Authors.... Stephen M Moraco | ||
| '' -- Copyright (c) 2022 Iron Sheep Productions, LLC | ||
| '' -- see below for terms of use | ||
| '' E-mail..... stephen@ironsheep.biz | ||
| '' Started.... Mar 2023 | ||
| '' Updated.... 21 Mar 2023 | ||
| '' | ||
| '' ================================================================================================= | ||
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| CON { timing } | ||
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| CLK_FREQ = 270_000_000 ' system freq as a constant | ||
| _clkfreq = CLK_FREQ ' set system clock | ||
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| CON { fixed io pins } | ||
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| RX1 = 63 { I } ' programming / debug | ||
| TX1 = 62 { O } | ||
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| SF_CS = 61 { O } ' serial flash | ||
| SF_SCK = 60 { O } | ||
| SF_SDO = 59 { O } | ||
| SF_SDI = 58 { I } | ||
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| HDMI_BASE_PIN = tvDebug.PINS_P0_P7 | ||
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| OBJ { our Drive Subsystem } | ||
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| user : "isp_bldc_motor_userconfig" ' driver configuration | ||
| wheels : "isp_steering_2wheel" ' the dual-drive BLDC motors | ||
| tvDebug : "isp_hdmi_debug" ' HDMI debug object | ||
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| DAT { run-time condition vars } | ||
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| bUseHDMI LONG TRUE ' set to TRUE to enable HDMI use/output | ||
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| PUB main() | basePinLt, basePinRt, voltage, motor, basePin, detectModeLt, detectModeRt | ||
| '' DEMO Driving a two wheeled platform | ||
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| debug("* dual motor demo w/HDMI") | ||
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| if bUseHDMI | ||
| basePin := tvDebug.validBasePinForChoice(HDMI_BASE_PIN) | ||
| if basePin <> tvDebug.INVALID_PIN_BASE | ||
| tvDebug.start(basePin) | ||
| debug("* HDMI started") | ||
| else | ||
| debug("* ERROR bad pin #") | ||
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| ' validate user settings/choicess | ||
| ' do NOT start motor unless all are legit! | ||
| basePinLt := wheels.validBasePinForChoice(user.LEFT_MOTOR_BASE) | ||
| basePinRt := wheels.validBasePinForChoice(user.RIGHT_MOTOR_BASE) | ||
| detectModeLt := wheels.validDetectModeForChoice(user.LEFT_BOARD_TYPE) | ||
| detectModeRt := wheels.validDetectModeForChoice(user.RIGHT_BOARD_TYPE) | ||
| voltage := wheels.validVoltageForChoice(user.DRIVE_VOLTAGE) | ||
| motor := wheels.validMotorForChoice(user.MOTOR_TYPE) | ||
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| if basePinLt <> wheels.INVALID_PIN_BASE and basePinRt <> wheels.INVALID_PIN_BASE and voltage <> wheels.INVALID_VOLTAGE and motor <> wheels.INVALID_MOTOR and detectModeLt <> wheels.INVALID_DET_MODE and detectModeRt <> wheels.INVALID_DET_MODE | ||
| ' start our dual motor driver | ||
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| ' start our motor drivers (left and right) | ||
| wheels.start(basePinLt, basePinRt, voltage, detectModeLt, detectModeRt) | ||
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| ' just don't draw current at stop | ||
| wheels.holdAtStop(false) | ||
| 'wheels.setMaxSpeed(100) ' override 75% with 100% | ||
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| if bUseHDMI | ||
| connectMotorToHDMI() | ||
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| ' now drive! | ||
| 'waitUntilMotorReady() | ||
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| { | ||
| debug("* BOTH Wheels") | ||
| wheels.driveDirection(80, -25) | ||
| wheels.stopAfterTime(15, wheels.DTU_SEC) ' hold at speed for 15 Sec | ||
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| waitUntilMotorDone() | ||
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| wheels.driveDirection(80, 25) | ||
| wheels.stopAfterTime(15, wheels.DTU_SEC) ' hold at speed for 15 Sec | ||
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| waitUntilMotorDone() | ||
| '} | ||
| '{ | ||
| debug("* LT Wheel") | ||
| wheels.driveAtPower(40, 50) | ||
| wheels.stopAfterTime(10, wheels.DTU_SEC) ' hold at speed for 15 Sec | ||
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| waitUntilMotorDone() | ||
| '} | ||
| { | ||
| debug("* RT Wheel") | ||
| wheels.driveAtPower(0, 100) | ||
| wheels.stopAfterTime(15, wheels.DTU_SEC) ' hold at speed for 15 Sec | ||
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| waitUntilMotorDone() | ||
| '} | ||
| ' turn off our motor drivers | ||
| wheels.stop() | ||
| else | ||
| debug("* ERROR user configuration NOT valid!") | ||
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| debug("* DONE") | ||
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| PRI connectMotorToHDMI() | nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars | ||
| ' connect our two motors to the HDMI display mech | ||
| if bUseHDMI | ||
| nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars := wheels.getLeftDebugData() | ||
| debug("* Received Lt: ", udec(nGroups), uhex_long(pGroupTitles), uhex_long(pGroupNames), uhex_long(pGroupVarCts), uhex_long(pGroupVars)) | ||
| tvDebug.registerDisplay(nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars) | ||
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| '{ -- in-active until this can work! -- | ||
| nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars := wheels.getRightDebugData() | ||
| debug("* Received Rt: ", udec(nGroups), uhex_long(pGroupTitles), uhex_long(pGroupNames), uhex_long(pGroupVarCts), uhex_long(pGroupVars)) | ||
| tvDebug.registerDisplay(nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars) | ||
| '} | ||
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| '{ -- in-active until this can work! -- | ||
| nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars := wheels.getDebugData() | ||
| debug("* Received Steer: ", udec(nGroups), uhex_long(pGroupTitles), uhex_long(pGroupNames), uhex_long(pGroupVarCts), uhex_long(pGroupVars)) | ||
| tvDebug.registerDisplay(nGroups, pGroupTitles, pGroupNames, pGroupVarCts, pGroupVars) | ||
| '} | ||
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| PRI waitUntilMotorReady() | ||
| if wheels.isReady() == false | ||
| debug("* wait motors ready...") | ||
| repeat | ||
| if wheels.isReady() | ||
| quit | ||
| else | ||
| waitms(2) | ||
| debug("* Motors ready, let's drive!") | ||
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| PRI waitUntilMotorDone() | ||
| if wheels.isStarting() == false | ||
| debug("* wait until motors start...") | ||
| repeat | ||
| if wheels.isStarting() | ||
| quit | ||
| else | ||
| waitms(2) | ||
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| if wheels.isStopped() == false | ||
| debug("* wait until motors finish...") | ||
| repeat | ||
| if wheels.isStopped() | ||
| quit | ||
| else | ||
| waitms(2) | ||
| debug("* Motors stopped!") | ||
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| CON { license } | ||
| {{ | ||
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| ------------------------------------------------------------------------------------------------- | ||
| MIT License | ||
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| Copyright (c) 2022 Iron Sheep Productions, LLC | ||
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| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
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| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
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| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ================================================================================================= | ||
| }} |
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