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Ch-6 clean

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This commit is contained in:
Danny Staple
2022-03-20 22:27:49 +00:00
parent 481cac28de
commit 36240090bf
19 changed files with 71 additions and 92 deletions
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ch-6/1-simple-input/pio_read_1_pin.py
+2 -6
View File
@@ -14,13 +14,9 @@ pio_input = """
assembled = adafruit_pioasm.assemble(pio_input)
sm = rp2pio.StateMachine(
assembled,
frequency=2000,
first_in_pin=board.GP20
)
sm = rp2pio.StateMachine(assembled, frequency=2000, first_in_pin=board.GP20)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
while True:
# read data from the fifo
ch-6/1-simple-input/pio_read_2_pins.py
+2 -5
View File
@@ -15,13 +15,10 @@ assembled = adafruit_pioasm.assemble(pio_input)
## set up a statemachine
sm = rp2pio.StateMachine(
assembled,
frequency=2000,
first_in_pin=board.GP20,
in_pin_count=2
assembled, frequency=2000, first_in_pin=board.GP20, in_pin_count=2
)
buffer = bytearray(1) # an array of bytes to read into - we are just asking for a byte
buffer = bytearray(1) # an array of bytes to read into - we are just asking for a byte
while True:
# read data from the fifo
ch-6/2-techniques/debugging_isr.py
+1 -1
View File
@@ -34,7 +34,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/extract_a_bit.py
+2 -4
View File
@@ -30,14 +30,12 @@ sm = rp2pio.StateMachine(
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
sm.write(array.array('I', [0b01101000_00000000_00000000_00000000]))
sm.write(array.array("I", [0b01101000_00000000_00000000_00000000]))
# read the data
sm.readinto(buffer)
print("Initial Y: {0} 0b{0:032b} 0x{0:x}".format(buffer[0]))
sm.readinto(buffer)
print("Y bit extracted: {0} 0b{0:032b} 0x{0:x}".format(buffer[0]))
ch-6/2-techniques/extract_a_bit_explore.py
+7 -5
View File
@@ -5,6 +5,7 @@ import rp2pio
import adafruit_pioasm
import array
def scenario(test_data, bit_to_extract, expected):
program = f"""
.program extract_bit
@@ -41,7 +42,7 @@ def scenario(test_data, bit_to_extract, expected):
assembled,
frequency=2000,
) as sm:
buffer = array.array('I', [0])
buffer = array.array("I", [0])
print("source bits: {0} 0b{0:032b} 0x{0:x}".format(test_data))
sm.readinto(buffer)
@@ -55,6 +56,7 @@ def scenario(test_data, bit_to_extract, expected):
print("Y bit expected: {0} 0b{0:032b} 0x{0:x}".format(expected))
print("")
def pull_scenario(test_data, bit_to_extract, expected):
program = f"""
.program extract_bit_pull
@@ -92,8 +94,8 @@ def pull_scenario(test_data, bit_to_extract, expected):
assembled,
frequency=2000,
) as sm:
sm.write(array.array('I', [test_data]))
buffer = array.array('I', [0])
sm.write(array.array("I", [test_data]))
buffer = array.array("I", [0])
print("source bits: {0} 0b{0:032b} 0x{0:x}".format(test_data))
sm.readinto(buffer)
@@ -105,7 +107,8 @@ def pull_scenario(test_data, bit_to_extract, expected):
if buffer[0] != expected:
print("Didn't get what I expected")
print("Y bit expected: {0} 0b{0:032b} 0x{0:x}".format(expected))
print("")
print("")
scenario(0b101, 1, 0)
scenario(0b110, 1, 1)
@@ -126,4 +129,3 @@ pull_scenario(0b10111000_00000000_00000000_00000000, 30, 0)
# v
pull_scenario(0b10111000_00000000_00000000_00000000, 31, 1)
pull_scenario(0b01111000_00000000_00000000_00000000, 31, 0)
ch-6/2-techniques/invert_a_register.py
+1 -1
View File
@@ -26,7 +26,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('i', [0])
buffer = array.array("i", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/pio_counting_down.py
+1 -1
View File
@@ -26,7 +26,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/pio_counting_up.py
+1 -1
View File
@@ -28,7 +28,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/pio_debugging_registers.py
+1 -1
View File
@@ -19,7 +19,7 @@ assembled = adafruit_pioasm.assemble(program)
## set up a statemachine
sm = rp2pio.StateMachine(assembled, frequency=2000)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/reversing_a_register.py
+1 -1
View File
@@ -26,7 +26,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/shift_and_reverse.py
+1 -1
View File
@@ -29,7 +29,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/2-techniques/shift_bits.py
+1 -1
View File
@@ -36,7 +36,7 @@ sm = rp2pio.StateMachine(
frequency=2000,
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
# read the data
sm.readinto(buffer)
ch-6/3-change-conditions/pio_one_encoder_when_changed.py
+2 -5
View File
@@ -25,13 +25,10 @@ assembled = adafruit_pioasm.assemble(program)
## set up a statemachine
sm = rp2pio.StateMachine(
assembled,
frequency=20000,
first_in_pin=board.GP20,
in_pin_count=2
assembled, frequency=20000, first_in_pin=board.GP20, in_pin_count=2
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
while True:
sm.readinto(buffer)
ch-6/3-change-conditions/pio_two_encoders_when_changed.py
+5 -11
View File
@@ -25,26 +25,20 @@ assembled = adafruit_pioasm.assemble(program)
## set up a statemachine
left_enc = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=board.GP20,
in_pin_count=2
assembled, frequency=0, first_in_pin=board.GP20, in_pin_count=2
)
right_enc = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=board.GP26,
in_pin_count=2
)
assembled, frequency=0, first_in_pin=board.GP26, in_pin_count=2
)
buffer = array.array('I', [0])
buffer = array.array("I", [0])
left_data = 0
right_data = 0
while True:
# read data from the fifo
# read data from the fifo
if left_enc.in_waiting:
left_enc.readinto(buffer)
left_data = buffer[0]
ch-6/4-quadrature-encoding/pio_encoder_counting.py
+5 -13
View File
@@ -59,28 +59,20 @@ assembled = adafruit_pioasm.assemble(program)
## set up a statemachine
left_enc = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=board.GP20,
jmp_pin=board.GP21,
in_pin_count=2
assembled, frequency=0, first_in_pin=board.GP20, jmp_pin=board.GP21, in_pin_count=2
)
right_enc = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=board.GP26,
jmp_pin=board.GP27,
in_pin_count=2
)
assembled, frequency=0, first_in_pin=board.GP26, jmp_pin=board.GP27, in_pin_count=2
)
buffer = array.array('i', [0])
buffer = array.array("i", [0])
left_data = 0
right_data = 0
while True:
# read data from the fifo
# read data from the fifo
if left_enc.in_waiting:
left_enc.readinto(buffer)
left_data = buffer[0]
ch-6/7-demos/encoder_mouse_demo.py
+7 -7
View File
@@ -12,13 +12,13 @@ last_y = 0
print("Entering main loop")
while True:
x = robot.left_encoder.read()
y = robot.right_encoder.read()
x = robot.left_encoder.read()
y = robot.right_encoder.read()
x_diff = x - last_x
y_diff = y - last_y
x_diff = x - last_x
y_diff = y - last_y
last_x = x
last_y = y
last_x = x
last_y = y
mouse.move(x=x_diff, y=y_diff)
mouse.move(x=x_diff, y=y_diff)
ch-6/7-demos/pio_encoder.py
+20 -20
View File
@@ -54,24 +54,24 @@ send:
assembled = adafruit_pioasm.assemble(program)
class QuadratureEncoder:
def __init__(self, first_pin, second_pin, reversed=False):
"""Encoder with 2 pins. Must use sequential pins on the board"""
self.sm = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=first_pin,
jmp_pin=second_pin,
in_pin_count=2
)
self.reversed = reversed
self._buffer = array.array('i', [0])
def read(self):
while self.sm.in_waiting:
self.sm.readinto(self._buffer)
if self.reversed:
return -self._buffer[0]
else:
return self._buffer[0]
class QuadratureEncoder:
def __init__(self, first_pin, second_pin, reversed=False):
"""Encoder with 2 pins. Must use sequential pins on the board"""
self.sm = rp2pio.StateMachine(
assembled,
frequency=0,
first_in_pin=first_pin,
jmp_pin=second_pin,
in_pin_count=2,
)
self.reversed = reversed
self._buffer = array.array("i", [0])
def read(self):
while self.sm.in_waiting:
self.sm.readinto(self._buffer)
if self.reversed:
return -self._buffer[0]
else:
return self._buffer[0]
ch-6/7-demos/robot.py
+6 -3
View File
@@ -13,12 +13,14 @@ left_motor = motor_B1, motor_B2
right_encoder = pio_encoder.QuadratureEncoder(board.GP20, board.GP21, reversed=True)
left_encoder = pio_encoder.QuadratureEncoder(board.GP26, board.GP27)
def stop():
motor_A1.duty_cycle = 0
motor_A2.duty_cycle = 0
motor_B1.duty_cycle = 0
motor_B2.duty_cycle = 0
def set_speed(motor, speed):
# Swap motor pins if we reverse the speed
if speed < 0:
@@ -26,15 +28,16 @@ def set_speed(motor, speed):
speed = -speed
else:
direction = motor
speed = min(speed, 1) # limit to 1.0
max_speed = 2**16-1
speed = min(speed, 1) # limit to 1.0
max_speed = 2 ** 16 - 1
direction[0].duty_cycle = int(max_speed * speed)
direction[1].duty_cycle = 0
def set_left(speed):
set_speed(left_motor, speed)
def set_right(speed):
set_speed(right_motor, speed)
ch-6/8-exercises/drive_fixed_count.py
+5 -5
View File
@@ -6,8 +6,8 @@ robot.set_right(0.8)
target = 4000
while robot.left_encoder.read() < target or robot.right_encoder.read() < target:
if robot.left_encoder.read() >= target:
robot.set_left(0)
if robot.right_encoder.read() >= target:
robot.set_right(0)
print(robot.left_encoder.read(), robot.right_encoder.read())
if robot.left_encoder.read() >= target:
robot.set_left(0)
if robot.right_encoder.read() >= target:
robot.set_right(0)
print(robot.left_encoder.read(), robot.right_encoder.read())