Category Archives: MicroPython

In this video lesson we show how you can use the Raspberry Pi Pico PIO State Machine to sweep a servo through its full range of motion. The video will take you through things step-by-step. For your convenience the code developed in the video is included below. Enjoy!

import time
from machine import Pin
import rp2
@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)
def servoSet():
    wrap_target()
    mov(x,osr)
    mov(y,isr)
    set(pins,0)
    label('timeLoop')
    jmp(x_not_y,'nxt')
    set(pins,1)
    label('nxt')
    jmp(y_dec,'timeLoop')    
    wrap()  
sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))
sm0.active(1)
sm0.put(20000)
sm0.exec("pull()")
sm0.exec("mov(isr,osr)")
while True:
    for angle in range(0,180,1):
        pw=int(500+angle*2000/180)
        sm0.put(pw)
        sm0.exec("pull()")
    time.sleep(5)
    for angle in range(180,0,-1):
        pw=int(500+angle*2000/180)
        sm0.put(pw)
        sm0.exec("pull()")

import time

from machine import Pin

import rp2

@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)

def servoSet():

wrap_target()

mov(x,osr)

mov(y,isr)

set(pins,0)

label('timeLoop')

jmp(x_not_y,'nxt')

set(pins,1)

label('nxt')

jmp(y_dec,'timeLoop')

wrap()

sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))

sm0.active(1)

sm0.put(20000)

sm0.exec("pull()")

sm0.exec("mov(isr,osr)")

while True:

for angle in range(0,180,1):

pw=int(500+angle*2000/180)

sm0.put(pw)

sm0.exec("pull()")

time.sleep(5)

for angle in range(180,0,-1):

pw=int(500+angle*2000/180)

sm0.put(pw)

sm0.exec("pull()")

MicroPython, Raspberry Pi Pico

Control Servo Position Using a Raspberry Pi Pico PIO State Machine

December 3, 2024 admin

In this video tutorial we show you how you can use a Raspberry Pi Pico PIO Statemachine to control the position of a servo. For your convenience, the code from this lesson is presented below. Enjoy!

from machine import Pin
import rp2
@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)
def servoSet():
    set(x,0b11111)
    in_(x,5)
    set(x,0b0100)
    in_(x,4)
    #set(x,0b00000)
    #in_(x,1)
    mov(osr,isr)
    
    mov(isr,null)
    set(y,0b10011)
    in_(y,5)
    set(y,0b10001)
    in_(y,5)
    set(y,0b00000)
    in_(y,5)
    
    wrap_target()
    mov(x,osr)
    mov(y,isr)
    set(pins,0)
    label('timeLoop')
    jmp(x_not_y,'nxt')
    set(pins,1)
    label('nxt')
    jmp(y_dec,'timeLoop')    
    wrap()
    
sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))
sm0.active(1)

from machine import Pin

import rp2

@rp2.asm_pio(set_init=rp2.PIO.OUT_LOW,out_shiftdir=rp2.PIO.SHIFT_RIGHT)

def servoSet():

set(x,0b11111)

in_(x,5)

set(x,0b0100)

in_(x,4)

#set(x,0b00000)

#in_(x,1)

mov(osr,isr)

mov(isr,null)

set(y,0b10011)

in_(y,5)

set(y,0b10001)

in_(y,5)

set(y,0b00000)

in_(y,5)

wrap_target()

mov(x,osr)

mov(y,isr)

set(pins,0)

label('timeLoop')

jmp(x_not_y,'nxt')

set(pins,1)

label('nxt')

jmp(y_dec,'timeLoop')

wrap()

sm0 = rp2.StateMachine(0,servoSet, freq=2000000, set_base=Pin(20))

sm0.active(1)

MicroPython, Raspberry Pi Pico

Control NeoPixel Array With Infrared IR Remote Control on Raspberry Pi Pico in MicroPython

July 17, 2024 admin

In this lesson we show how we can control the neoPixel array using an Infrared IR Remote Control on the Raspberry Pi Pico W in micropython. The video above explains things step-by-step. For your convenience, the code is included below. Enjoy!

import neopixel
from machine import Pin
import time

pixPin = 0
pixSize = 8
pix = neopixel.NeoPixel(Pin(pixPin), pixSize)

def getRGB(deg):
    m=1/60
    if deg>=0 and deg<60:
        R=1
        G=0
        B=m*deg
    if deg>=60 and deg<120:
        R=1-m*(deg-60)
        G=0
        B=1
    if deg>=120 and deg<180:
        R=0
        G=m*(deg-120)
        B=1
    if deg>=180 and deg<240:
        R=0
        G=1
        B=1-m*(deg-180)
    if deg>=240 and deg<300:
        R=m*(deg-240)
        G=1
        B=0
    if deg>=300 and deg<360:
        R=1
        G=1-m*(deg-300)
        B=0
    myColor=(int(R*255),int(G*255),int(B*255))
    return myColor

from ir_rx.print_error import print_error
from ir_rx.nec import NEC_8
import SERVO
IRdict ={69 : 'POWER', 70: 'MODE',71 : 'OFF',
         68: 'PLAY', 64 : 'BACK', 67 : 'FORWARD', 7: 'ENTER', 21: '-',
         9 : '+', 22 : 0,25 : 'LOOP', 13:'USD' ,
         12: 1, 24 : 2,94 : 3,
        8 :4, 28 : 5, 90 : 6,
        66 : 7, 82 : 8, 74 : 9}

newCommand=[]
beginRecord=False
cmdReady=False
angleString=''
newBit=""
irPin=17
cmd=0
myIR = Pin(irPin, Pin.IN)
def callback(IRbit, addr, ctrl):
    global newCommand
    global beginRecord
    global cmdReady
    global IRdict
    global cmd
    if IRbit==69:
        beginRecord=True
        newCommand=[]
        cmdReady=False
    if beginRecord==True and IRbit!=-1:
        newCommand.append(IRdict[IRbit])
    if IRbit==7:
        cmdReady=True
        cmd=newCommand[1]
        
IR = NEC_8(myIR, callback)  # Instantiate receiver
try:
    while True:
        if cmd==0:
            for i in range(0,8):
                pix[i]=[0,0,0]
            pix.write()
        if cmd==1:
            pix.fill([255,0,0])
            pix.write()
        if cmd==2:
            pix.fill([0,255,0])
            pix.write()
        if cmd==3:
            pix.fill([0,0,255])
            pix.write() 
        if cmd==4:
            for i in range(0,360,1):
                for j in range(0,8,1):
                    deg=i+(j)*45
                    if deg>=360:
                        deg=deg-360
                    color=getRGB(deg)
                    pix[j]=color
                    if cmd!=4:
                        break
                if cmd!=4:
                    break
                pix.write()
                time.sleep(.01)
        if cmd==5:
            for i in range(0,360,1):
                color=getRGB(i)
                pix.fill(color)
                pix.write()
                time.sleep(.01)
                if cmd!=5:
                    break
        if cmd==6:
            for i in range(1,8,1):
                pix.fill([255,0,0])
                pix[i]=[0,0,255]
                #pix[7-i]=green
                pix.write()
                time.sleep(.1)
                if cmd!=6:
                    break
            for i in range(6,-1,-1):
                pix.fill([255,0,0])
                pix[i]=[0,0,255]
                #pix[7-i]=green
                pix.write()
                time.sleep(.1)
                if cmd!=6:
                    break

except KeyboardInterrupt:
    IR.close()
    for i in range(0,8):
        pix[i]=[0,0,0]
        pix.write()
    print("Program Terminated")

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import neopixel

from machine import Pin

import time

pixPin = 0

pixSize = 8

pix = neopixel.NeoPixel(Pin(pixPin), pixSize)

def getRGB(deg):

m=1/60

if deg>=0 and deg<60:

R=1

G=0

B=m*deg

if deg>=60 and deg<120:

R=1-m*(deg-60)

G=0

B=1

if deg>=120 and deg<180:

R=0

G=m*(deg-120)

B=1

if deg>=180 and deg<240:

R=0

G=1

B=1-m*(deg-180)

if deg>=240 and deg<300:

R=m*(deg-240)

G=1

B=0

if deg>=300 and deg<360:

R=1

G=1-m*(deg-300)

B=0

myColor=(int(R*255),int(G*255),int(B*255))

return myColor

from ir_rx.print_error import print_error

from ir_rx.nec import NEC_8

import SERVO

IRdict ={69 : 'POWER', 70: 'MODE',71 : 'OFF',

68: 'PLAY', 64 : 'BACK', 67 : 'FORWARD', 7: 'ENTER', 21: '-',

9 : '+', 22 : 0,25 : 'LOOP', 13:'USD' ,

12: 1, 24 : 2,94 : 3,

8 :4, 28 : 5, 90 : 6,

66 : 7, 82 : 8, 74 : 9}

newCommand=[]

beginRecord=False

cmdReady=False

angleString=''

newBit=""

irPin=17

cmd=0

myIR = Pin(irPin, Pin.IN)

def callback(IRbit, addr, ctrl):

global newCommand

global beginRecord

global cmdReady

global IRdict

global cmd

if IRbit==69:

beginRecord=True

newCommand=[]

cmdReady=False

if beginRecord==True and IRbit!=-1:

newCommand.append(IRdict[IRbit])

if IRbit==7:

cmdReady=True

cmd=newCommand[1]

IR = NEC_8(myIR, callback) # Instantiate receiver

try:

while True:

if cmd==0:

for i in range(0,8):

pix[i]=[0,0,0]

pix.write()

if cmd==1:

pix.fill([255,0,0])

pix.write()

if cmd==2:

pix.fill([0,255,0])

pix.write()

if cmd==3:

pix.fill([0,0,255])

pix.write()

if cmd==4:

for i in range(0,360,1):

for j in range(0,8,1):

deg=i+(j)*45

if deg>=360:

deg=deg-360

color=getRGB(deg)

pix[j]=color

if cmd!=4:

break

if cmd!=4:

break

pix.write()

time.sleep(.01)

if cmd==5:

for i in range(0,360,1):

color=getRGB(i)

pix.fill(color)

pix.write()

time.sleep(.01)

if cmd!=5:

break

if cmd==6:

for i in range(1,8,1):

pix.fill([255,0,0])

pix[i]=[0,0,255]

#pix[7-i]=green

pix.write()

time.sleep(.1)

if cmd!=6:

break

for i in range(6,-1,-1):

pix.fill([255,0,0])

pix[i]=[0,0,255]

#pix[7-i]=green

pix.write()

time.sleep(.1)

if cmd!=6:

break

except KeyboardInterrupt:

IR.close()

for i in range(0,8):

pix[i]=[0,0,0]

pix.write()

print("Program Terminated")

MicroPython, Raspberry Pi Pico

MicroPython MultiCore Programming on the Raspberry Pi Pico Using Threading

May 7, 2024 admin

In this video I show how to use both cores on the Raspberry Pi Pico W. We will explore an example using threading where we will operate 2 LED and a servo.

from machine import Pin
import time
import _thread
import SERVO

greenPin=14
redPin=15
servoPin=17

LED=""

redLED=Pin(redPin,Pin.OUT)
greenLED=Pin(greenPin,Pin.OUT)

delOn=.1
delOff=.1
myServo=SERVO.servo(servoPin)
running =True

def othCore(del1,del2):
    global LED
    while True:
        if LED=="RED":
            redLED.value(1)
            time.sleep(del1)
            redLED.value(0)
            time.sleep(del2)
        if LED=="GREEN":
            greenLED.value(1)
            time.sleep(del1)
            greenLED.value(0)
            time.sleep(del2)
_thread.start_new_thread(othCore,(delOn,delOff))
time.sleep(.25)
while True:
    LED="RED"
    for i in range(0,180,1):
        myServo.pos(i)
        time.sleep(.01)
    LED="GREEN"
    for i in range(180,0,-1):
        myServo.pos(i)
        time.sleep(.01)

from machine import Pin

import time

import _thread

import SERVO

greenPin=14

redPin=15

servoPin=17

LED=""

redLED=Pin(redPin,Pin.OUT)

greenLED=Pin(greenPin,Pin.OUT)

delOn=.1

delOff=.1

myServo=SERVO.servo(servoPin)

running =True

def othCore(del1,del2):

global LED

while True:

if LED=="RED":

redLED.value(1)

time.sleep(del1)

redLED.value(0)

time.sleep(del2)

if LED=="GREEN":

greenLED.value(1)

time.sleep(del1)

greenLED.value(0)

time.sleep(del2)

_thread.start_new_thread(othCore,(delOn,delOff))

time.sleep(.25)

while True:

LED="RED"

for i in range(0,180,1):

myServo.pos(i)

time.sleep(.01)

LED="GREEN"

for i in range(180,0,-1):

myServo.pos(i)

time.sleep(.01)

MicroPython, Raspberry Pi Pico

Servo Library for the Raspberry Pi Pico W in MicroPython

April 23, 2024 admin

In this lesson we demonstrate how to create a custom library on the Raspberry Pi Pico W to control a servo. We create a servo class, and then show how to use it as a library in future programs.

class servo:
    def __init__(self,sPin):
        import machine
        self.servoPin=sPin
        self.obj=machine.PWM(machine.Pin(self.servoPin))
        self.obj.freq(50)
    
    def pos(self,angle):
        writeVal=6553/180*angle+1638
        self.obj.duty_u16(int(writeVal))

class servo:

def __init__(self,sPin):

import machine

self.servoPin=sPin

self.obj=machine.PWM(machine.Pin(self.servoPin))

self.obj.freq(50)

def pos(self,angle):

writeVal=6553/180*angle+1638

self.obj.duty_u16(int(writeVal))

Technology Tutorials

Category Archives: MicroPython

Sweeping Servo Position Using the PIO State Machine on the Raspberry Pi Pico PIO State Machine

Control Servo Position Using a Raspberry Pi Pico PIO State Machine

Control NeoPixel Array With Infrared IR Remote Control on Raspberry Pi Pico in MicroPython

MicroPython MultiCore Programming on the Raspberry Pi Pico Using Threading

Servo Library for the Raspberry Pi Pico W in MicroPython

Making The World a Better Place One High Tech Project at a Time. Enjoy!