In this video lesson we show how you can control a PIO State Machine on the Raspberry Pi Pico W inside of a micropython class. We demonstrate with the practical example of controlling servos with a servo Class which we create. The objective is to ‘hide’ all the complex code in the class, allowing less adept users to interact with the servo with simple python commands. For your convenience the code developed in this video is included below. Enjoy!
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import time from machine import Pin import rp2 class servoState: counter=0 @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() def __init__(self,servoPin): self.sm = rp2.StateMachine(servoState.counter,servoState.servoSet, freq=2000000, set_base=Pin(servoPin)) self.sm.active(1) self.sm.put(20000) self.sm.exec("pull()") self.sm.exec("mov(isr,osr)") print("State Machine: "+str(servoState.counter)+" created") servoState.counter=servoState.counter+1 def servoAngle(self,angle): pw=int(500+angle*2000/180) self.sm.put(pw) self.sm.exec("pull()") myServo1=servoState(20) myServo2=servoState(21) myServo3=servoState(22) myServo4=servoState(23) myServo5=servoState(24) myServo6=servoState(25) myServo7=servoState(26) myServo8=servoState(27) while True: for angle in range(0,180,1): myServo1.servoAngle(angle) myServo7.servoAngle(180-angle) time.sleep(5) for angle in range(180,0,-1): myServo1.servoAngle(angle) myServo7.servoAngle(180-angle) time.sleep(5) |