*** pwm_int_55.py – pwm and interrupt testing, tlfong01, 2021oct08hkt2044 ***
from machine import Pin, PWM
import utime
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Conents
#
Part 1 – Interrupt Functions
1.1 Using GP4, 5, 6, 7 input pins to detect and count mtor encoder A signals and calculate motor speed
Part 2 – PWM Functions
2.1 Using PWM pin to fade in and fade out the system LED
2.2 Using GP 0, 1, 2, 3 pins’ PWM signals to control the speed of TB6612FNG driving TM310 DC motor
Part 3 – TB6612FNG MotorDriver Functions
3.1 Setting up TB6612FNG motor drivers
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*** Part 1 – Interrupt Functions ***
Interrupt functions for multiple (4) interrupt pins GP 4, 5, 6, 7 ***
intPinNum0 = 4 #GP4
intPinNum1 = 5 #GP5
intPinNum2 = 6 #GP6
intPinNum3 = 7 #GP7
picoIntGpPinNumDict = {‘0’: 4, # GP4
‘1’: 5, # GP5
‘2’: 6, # GP6
‘3’: 7, # GP7
}
intPinNumList = [intPinNum0, intPinNum1, intPinNum2, intPinNum3]
intPin0 = Pin(intPinNum0, Pin.IN, Pin.PULL_DOWN)
intPin1 = Pin(intPinNum1, Pin.IN, Pin.PULL_DOWN)
intPin2 = Pin(intPinNum2, Pin.IN, Pin.PULL_DOWN)
intPin3 = Pin(intPinNum3, Pin.IN, Pin.PULL_DOWN)
intPinDict = {
‘0’: intPin0,
‘1’: intPin1,
‘2’: intPin2,
‘3’: intPin3,
}
global intCount0
global intCount1
global intCount2
global intCount3
intCount0 = 0
intCount1 = 0
intCount2 = 0
intCount3 = 0
intCountDict = {
‘0’: intCount0,
‘1’: intCount1,
‘2’: intCount2,
‘3’: intCount3,
}
def intCallBack0(pin):
global intCount0
intCount0 = intCount0 + 1
return
def intCallBack1(pin):
global intCount1
intCount1 = intCount1 + 1
return
def intCallBack2(pin):
global intCount2
intCount2 = intCount2 + 1
return
def intCallBack3(pin):
global intCount3
intCount3 = intCount3 + 1
return
intCallBackDict = {
‘0’: intCallBack0,
‘1’: intCallBack1,
‘2’: intCallBack2,
‘3’: intCallBack3,
}
intPin0.irq(intCallBack0, Pin.IRQ_FALLING)
intPin1.irq(intCallBack1, Pin.IRQ_FALLING)
intPin2.irq(intCallBack2, Pin.IRQ_FALLING)
intPin3.irq(intCallBack3, Pin.IRQ_FALLING)
def countIntPinIntPeriod(intPinNum, countPeriod):
global intCount0
global intCount1
global intCount2
global intCount3
intCount0 = 0
intCount1 = 0
intCount2 = 0
intCount3 = 0
utime.sleep(countPeriod)
if intPinNum == 0:
intCount = intCount0
elif intPinNum == 1:
intCount = intCount1
elif intPinNum == 2:
intCount = intCount2
else:
intCount = intCount3
return intCount
def countIntPinNumListIntPeriod(intPinNumList, countPeriod):
intCountList = [0] * len(intPinNumList)
for index in range(len(intPinNumList)):
intCountList[index] = countIntPinIntPeriod(intPinNumList[index], countPeriod)
return intCountList
*** Test functions ***
def repeatCountIntPinNumListIntPeriod(intPinNumList, countPeriod, pauseTime, repeatTimes):
print(‘\n countIntPinNumListIntPeriod()’)
picoIntGpPinNumList = [0] * len(intPinNumList)
for index in range(len(picoIntGpPinNumList)):
picoIntGpPinNumList[index] = picoIntGpPinNumDict[str(index)]
print(‘ intPinNumList =’, intPinNumList)
print(‘ picoIntGpPinNumList =’, picoIntGpPinNumList)
print(‘ countPeriod (seconds) =’, countPeriod)
print(‘ pauseTime (seconds) =’, pauseTime)
print(‘ repeat count times =’, repeatTimes)
print(”)
for count in range(repeatTimes):
ppsList = countIntPinNumListIntPeriod(intPinNumList, countPeriod)
print(' ppsList =', ppsList, end = '')
print(' , min ', min(ppsList), end = '')
print(' , max ', max(ppsList), end = '')
print(' , dif ', max(ppsList) - min(ppsList), end = '')
print(' , avg ', int(sum(ppsList) / len(ppsList)))
'''
rpmList = ppsList.copy()
for index in range(len(rpmList)):
rpmList[index] = int(((rpmList[index] / 12) / 90) * 10 * 60)
print(' rpmList =', rpmList, end = '')
print(' , min ', min(rpmList), end = '')
print(' , max ', max(rpmList), end = '')
print(' , avg ', int(sum(rpmList) / len(rpmList)))
'''
utime.sleep(pauseTime)
return
*** Sample Test ***
…
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*** Part 2 – PWM Functions ***
def pwmSystemLed():
systemLedPinNum = 25
pwmPin = PWM(Pin(systemLedPinNum))
pwmPin.freq(1000)
for count in range(4):
for dutyCycle in range(65025):
pwmPin.duty_u16(dutyCycle)
utime.sleep(0.0001)
for dutyCycle in range(65025, 0, -1):
pwmPin.duty_u16(dutyCycle)
utime.sleep(0.0001)
return
def testPwmSystemLed():
print(‘testPwmSystemLed(), …’)
print(‘ System LED now fades in and out a couple of times’)
pwmSystemLed()
print(‘ End of test.’)
return
*** Sample Test ***
testPwmSystemLed()
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*** Setup 4 PWM Pins ***
Notes:
1. Setting up GP 0, 1, 2, 3 as pwm pins at 1 kHz, 50% duty cycle
2. Connecting the pwm pins to the pwm inputs of TB6612FNG move the DC motor TM310.
*** Pwm Pin Numbers and List ***
pwmPinNum0 = 0 #GP0
pwmPinNum1 = 1 #GP1
pwmPinNum2 = 2 #GP2
pwmPinNum3 = 3 #GP3
pwmPinNumList = [pwmPinNum0, pwmPinNum1, pwmPinNum2, pwmPinNum3]
picoPwmGpPinNumDict = {
‘0’: 0,
‘1’: 1,
‘2’: 2,
‘3’: 3,
}
*** Pwm Pin Objects and List ***
pwmPin0 = PWM(Pin(pwmPinNum0))
pwmPin1 = PWM(Pin(pwmPinNum1))
pwmPin2 = PWM(Pin(pwmPinNum2))
pwmPin3 = PWM(Pin(pwmPinNum3))
pwmPinList01 = [pwmPin0, pwmPin1, pwmPin2, pwmPin3]
pwmPinDict = {‘0’: pwmPin0,
‘1’: pwmPin1,
‘2’: pwmPin2,
‘3’: pwmPin3,
}
*** Defualt Frequency and Duty Cycle ***
defaultPwmFreq = 1000
defaultPwmDutyCycle = 50
*** Initializing Pwm Pin Objects and List ***
def setPwmFreq(pwmPin, pwmFreq):
pwmPin.freq(pwmFreq)
return
def setPwmDutyCycle(pwmPin, dutyCycle):
u16DutyCycle = int((dutyCycle / 100) * 65536)
pwmPin.duty_u16(u16DutyCycle)
return
def setupPwmPinNumList(pwmPinNumList, pwmFreqList, pwmDutyCycleList):
picoPwmGpPinNumList = [0] * len(pwmPinNumList)
for index in range(len(picoPwmGpPinNumList)):
picoPwmGpPinNumList[index] = picoPwmGpPinNumDict[str(index)]
print(' setupPwmPinNumList(), ...')
print(' pwmPinNumList =', pwmPinNumList)
print(' Pico GP pin num list =', picoPwmGpPinNumList)
print(' pwmFreqList =', pwmFreqList)
print(' pwmDutyCycleList =', pwmDutyCycleList)
for index in range(len(pwmPinNumList)):
pwmPin = pwmPinDict[str(index)]
setPwmFreq(pwmPin, pwmFreqList[index])
setPwmDutyCycle(pwmPin, pwmDutyCycleList[index])
return
def testSetupPwmPinNumList():
setupPwmPinNumList(pwmPinNumList = [0, 1, 2, 3], pwmFreqList = [1000, 1000, 1000, 1000],
pwmDutyCycleList = [90, 90, 90, 90])
return
Sample test ***
testSetupPwmPinNumList()
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*** Part 3 – TB6612FNG Motor Driver Functions ***
picoMotorDriverGpPinNumDict = { \
‘0’: {‘StdByPinNum’ : 8, #GP 8
‘AinPinNum1’ : 10, #GP 10
‘AinPinNum2’ : 11, #GP 11
‘PwmPinNum1’ : 0, #GP 0
‘BinPinNum1’ : 12, #GP 12
‘BinPinNum2’ : 13, #GP 13
‘PwmPinNum2’ : 1, #GP 1
},
‘1’: {‘StdByPinNum’ : 9, #GP 9
‘AinPinNum1’ : 14, #GP 14
‘AinPinNum2’ : 15, #GP 15
‘PwmPinNum1’ : 2, #GP 2
‘BinPinNum1’ : 16, #GP 16
‘BinPinNum2’ : 17, #GP 17
‘PwmPinNum2’ : 3, #GP 3
},
}
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*** Old Main Tests ***
*** Old Tests V1 2021oct07hkt1545 ***
def moveFourMotorsV1():
setupPwmPinNumList(pwmPinNumList = [0, 1, 2, 3],
pwmFreqList = [1000, 1000, 1000, 1000],
pwmDutyCycleList = [50, 50, 50, 50])
return
def checkFourMotorsV1():
repeatCountIntPinNumListIntPeriod(intPinNumList = [0, 1, 2, 3],
countPeriod = 0.1,
pauseTime = 0.2,
repeatTimes = 4,)
return
***Old tests ***
moveFourMotorsV1()
checkFourMotorsV1()
*** Main Tests ***
testSetupMotorDriverList(motorDriverNumList)
*** End ***
*** Sample Output tlfong01 2021oct04hkt1657 ***
*** End of Sample Output ***
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