implemented motorcontrol, untested
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57300984b0
commit
59e91cc8f4
1 changed files with 58 additions and 2 deletions
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@ -38,6 +38,47 @@ CMD_RW = 'R' # rewind
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LED = PWM(Pin(25))
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LED.freq(_PWM_FREQ)
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class Scroll:
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def __init__(self, cnt_pin:Pin, end_pin:Pin, en_pin:PWM, a_pin:Pin, b_pin:Pin) -> None:
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self.c = 0
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self._dir = 0
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self._speed = 0
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self.en_pin = en_pin
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self.a_pin = a_pin
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self.b_pin = b_pin
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self.c_pin = cnt_pin
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self.c_pin.irq(self._count, Pin.IRQ_RISING | Pin.IRQ_FALLING)
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self.e_pin = end_pin
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self.e_pin.irq(self._stop, Pin.IRQ_RISING)
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def _count(self, pin):
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self.c += self._dir
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def _stop(self, pin):
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self.a_pin.value(0)
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self.b_pin.value(0)
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@property
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def dir(self):
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return self._dir
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@dir.setter
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def dir(self, d):
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self.a_pin.value(1 if d > 0 else 0)
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self.b_pin.value(1 if d < 0 else 0)
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self._dir = d
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@property
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def speed(self):
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return self._speed * self._dir
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@speed.setter
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def speed(self, speed):
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self._speed = speed
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self.en_pin.duty_u16(speed * (_PWM_MAX // 100))
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self.dir = (1 if speed > 0 else
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(-1 if speed < 0 else 0))
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pwm_bl = PWM(Pin(_PIN_EN_BACKLIGHT))
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pwm_bl.freq(_PWM_FREQ)
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pwm_fl = PWM(Pin(_PIN_EN_FRONTLIGHT))
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@ -65,14 +106,29 @@ end_h = Pin(_PIN_SENS_END_HOR, Pin.IN)
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uart0 = UART(0, baudrate=9600, tx=Pin(0), rx=Pin(1))
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scroll_h = Scroll(cnt_h, end_h, pwm_mh, pin_mh_a, pin_mh_b)
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scroll_v = Scroll(cnt_v, end_v, pwm_mv, pin_mv_a, pin_mv_b)
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def motor_vert(*opts):
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print(f'motor_vert({opts})')
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_motorctrl(scroll_v, *opts)
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return 'OK'
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def motor_hor(*opts):
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print(f'motor_hor({opts})')
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_motorctrl(scroll_h, *opts)
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return 'OK'
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def _motorctrl(scroll: Scroll, steps: int, *opts):
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end = scroll.c + steps
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while True:
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err = end - scroll.c
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if abs(err) > 4:
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speed = (err / (2 * steps)) + 0.5
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scroll.speed = int(100 * speed)
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else:
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scroll.speed = 0
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break
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time.sleep_ms(5)
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def backlight(*opts):
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_fade_led(pwm_bl, *opts)
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return 'OK'
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