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demo_quadEncTimiPca_exerciser.spin2
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demo_quadEncTimiPca_exerciser.spin2
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'' =================================================================================================
''
'' File....... demo_quadEncTimiPca_exerciser.spin2
'' Purpose.... Using Quad encoder for control and Timi-130 display, let's determine limits of PCA9685 attached servos
'' Authors.... Stephen M Moraco
'' -- Copyright (c) 2023 Iron Sheep Productions, LLC
'' -- see below for terms of use
'' E-mail..... stephen@ironsheep.biz
'' Started.... May 2023
'' Updated.... 16 May 2023
''
'' =================================================================================================
CON { timing }
CLK_FREQ = 270_000_000 ' system freq as a constant
_clkfreq = CLK_FREQ ' set system clock
CON { fixed io pins }
RX1 = 63 { I } ' programming / debug
TX1 = 62 { O }
SF_CS = 61 { O } ' serial flash
SF_SCK = 60 { O }
SF_SDO = 59 { O }
SF_SDI = 58 { I }
CON { application io pins }
' NOTE: pins 24 & 25 also use 26 & 27 to determine rate of rotation
QUAD_ENC_CLK = 26 { I }
QUAD_ENC_DAT = 27 { I }
QUAD_ENC_BTN = 28 { I }
SRVO_OFST_RANGE = 750 ' NOTE customize this to adjut servo range span
SRVO_OFST_CNTR = 1500
SRVO_OFST_MIN = SRVO_OFST_CNTR - SRVO_OFST_RANGE
SRVO_OFST_MAX = SRVO_OFST_CNTR + SRVO_OFST_RANGE
SRVO_PULSE_WIDTH_MS = 50 ' pulse width in milliSeconds
MAX_SERVOS = 6
' multiply the runtime-determined spin rate of the encoder knob
ENC_RATE_SCALE = 4 ' 2 = 5 turns end-to-end, 4 = 3 turns end-to-end
' TIMI-130 display pins
TIMI_RX = 16
TIMI_TX = 17
TIMI_RST = 18
TIMI_BAUD_RATE = 9600
TIMI_PAGEID_DIAL = 0
TIMI_PAGEID_METER = 1
TIMI_PAGEID_LEDMTX = 2
TIMI_PAGEID_NET_MTR = 3
' the PCA9685 with attached servos
PCA9685_OE = 8
PCA9685_SCL = 9
PCA9685_SDA = 10
OBJ
quadEnc : "isp_quadEncWBtn_sp" ' 3-pin I/F to push button rotary encoder
timi : "isp_timi_mates" ' serial I/F to display
memstr : "isp_mem_strings" ' in-ram formatter for strings
pcaServos : "isp_i2c_pca9685" ' 16-channel servo controller
DAT
servoIdx LONG 0
servoOffset LONG 1500
stateIdx LONG 0
msgLOW BYTE "LO",0
msgHIGH BYTE "HI",0
Title0 BYTE "ServoExer",0
Title1 BYTE "SRVO-1 LO",0
rateMsg BYTE " 1500",0
deltaPosition LONG 0
priorPosition LONG 0
desiredOffset LONG 0
' ------------------------------------------------------------
srvoId1 BYTE 0, "Eye L/R",0
srvoId2 BYTE 1, "Eye U/D",0
srvoId3 BYTE 2, "Lid TR",0
srvoId4 BYTE 3, "Lid BR",0
srvoId5 BYTE 4, "Lid TL",0
srvoId6 BYTE 5, "Lid BL",0
srvoIdTable ' 1st table-entry must follow immediately
WORD @srvoId1
WORD @srvoId2
WORD @srvoId3
WORD @srvoId4
WORD @srvoId5
WORD @srvoId6
srvoIdTableEnd ' last entry must be immediately above this line
' ------------------------------------------------------------
srvoIdEntCt BYTE (@srvoIdTableEnd-@srvoIdTable) >> 1 ' div by 2
' ------------------------------------------------------------
PUB main() | pageId, bDidSucceed, currPosn, currRate, tmpOffset, bIsPressed, bIsDouble, bDevicePresent, incre
' start our input device
quadEnc.start(QUAD_ENC_CLK, QUAD_ENC_DAT, QUAD_ENC_BTN)
quadEnc.setScale(ENC_RATE_SCALE)
' start our display device
timi.start(TIMI_TX, TIMI_RX, TIMI_RST, TIMI_BAUD_RATE)
' start our output set of servos
pcaServos.init(PCA9685_SCL, PCA9685_SDA, PCA9685_OE)
pcaServos.enableOutput(FALSE)
' interfae prototype
' button pressess selects next servo or high/low range
' knob rotates incrementing servo offset value
' current effort is shown on the TIMI display
' connect to servos
bDevicePresent := pcaServos.start(PCA9685_SCL, PCA9685_SDA, PCA9685_OE)
if bDevicePresent
debug("* connected to PCA9685")
pcaServos.configureController()
pcaServos.enableOutput(TRUE)
' center our servos
pcaServos.setAllServos(SRVO_OFST_CNTR)
debug("* all servos PWMing.... 1500 uSec...")
'debug("* all servos PWMing.... 1500 uSec, holding")
'repeat
debug(" ")
'debug("test... ")
{
repeat pageId from 0 to 3
bDidSucceed := timi.setPage(pageId, timi.MATES_RESPONSE_LTIMEOUT)
if not bDidSucceed
quit
waitms(2000) ' show for 2 sec
'}
' select the 4x LED matrix page
pcaServos.gotoMicroSec(servoIdx, servoOffset)
bDidSucceed := timi.setPage(TIMI_PAGEID_LEDMTX, timi.MATES_RESPONSE_LTIMEOUT)
if bDidSucceed
' set titles
timi.updateDotMatrixWidget(0, @Title0)
updateDisplay()
repeat
bIsPressed, bIsDouble := quadEnc.isButtonPressed()
if bIsPressed
' debug("* Button Pressed, isDbl=", sdec_(bIsDouble))
' select next/prior servo
incre := (bIsDouble) ? -1 : +1
servoIdx += incre
if servoIdx >= MAX_SERVOS
servoIdx := 0
if servoIdx < 0
servoIdx := MAX_SERVOS - 1
' get last known position
servoOffset := pcaServos.getMicroSec(servoIdx) ' get last known position
' write to display
updateStateDisplay()
deltaPosition := quadEnc.positionScaled()
if deltaPosition <> 0
tmpOffset := servoOffset + deltaPosition
servoOffset := SRVO_OFST_MIN #> tmpOffset <# SRVO_OFST_MAX
'debug("* Offset=", sdec_(servoOffset), ", delta=", sdec_(deltaPosition))
'debug(" ")
updateOffsetDisplay()
pcaServos.gotoMicroSec(servoIdx, servoOffset)
debug("done... holding...")
repeat
PRI updateDisplay()
updateStateDisplay()
updateOffsetDisplay()
PRI updateStateDisplay() | pStateTitle
pStateTitle := genStateMsg(servoIdx)
timi.updateDotMatrixWidget(1, pStateTitle)
updateInstruDisplay()
PRI updateOffsetDisplay() | pRateMsg
pRateMsg := rightAlignValue(servoOffset, 9)
timi.updateDotMatrixWidget(2, pRateMsg)
PRI updateInstruDisplay() | pInstruMsg, pText
pText := @"750 2250"
pInstruMsg := rightAlignString(pText, 9)
timi.updateDotMatrixWidget(3, pInstruMsg)
PRI genStateMsg(nServo) : pMessage | lenBytes, pStateMsg
pStateMsg := strForServoIdx(nServo)
lenBytes := memstr.sFormatStr2(@Title1, @"%d %s", nServo, pStateMsg)
pMessage := @Title1
PRI rightAlignValue(value, width) : pMessage | lenBytes, BYTE fmtStr[20]
lenBytes := memstr.sFormatStr1(@fmtStr, @"\%%dd", width)
lenBytes := memstr.sFormatStr1(@rateMsg, @fmtStr, value)
pMessage := @rateMsg
PRI rightAlignString(pStr, width) : pMessage | lenBytes, BYTE fmtStr[20]
lenBytes := memstr.sFormatStr1(@fmtStr, @"\%%ds", width)
lenBytes := memstr.sFormatStr1(@rateMsg, @fmtStr, pStr)
pMessage := @rateMsg
PRI strForServoIdx(servoIndex) : pStr | nIdx, pTblEntry, pPossIdStr, nServoIdx
' identify command requested
pStr := 0
repeat nIdx from 0 to srvoIdEntCt - 1
pTblEntry := @@WORD[@srvoIdTable][nIdx] ' get BYTE ptr from table
nServoIdx := BYTE[pTblEntry][0] ' skip enumVal get BYTE ptr to cmd zstring
pPossIdStr := @BYTE[pTblEntry][1] ' skip enumVal get BYTE ptr to cmd zstring
'debug("-? Tbl[", udec_(nIdx), "] ", uhex_long(pTblEntry), ", srvo=", udec_(nServoIdx), ", [", zstr_(pPossIdStr), "] ?-")
'debug("-? pPossIdStr(", udec_(strsize(pPossIdStr)), ")=[", zstr_(pPossIdStr), "] ?-")
if nServoIdx == servoIndex
pStr := pPossIdStr ' do match, we have our value
quit
if pStr == 0
debug("EEE strForServoIdx: Unknown servo id(", udec_(servoIndex), ")!")
CON { license }
{{
-------------------------------------------------------------------------------------------------
MIT License
Copyright (c) 2023 Iron Sheep Productions, LLC
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=================================================================================================
}}