motor control, servo and stepper

week4/examples/MotorProject/.gitignore

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+.pio
+.vscode/.browse.c_cpp.db*
+.vscode/c_cpp_properties.json
+.vscode/launch.json
+.vscode/ipch

week4/examples/MotorProject/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack",
+        "pioarduino.pioarduino-ide"
+    ]
+}

week4/examples/MotorProject/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

week4/examples/MotorProject/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

week4/examples/MotorProject/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env]
+platform = https://github.com/maxgerhardt/platform-raspberrypi.git
+framework = arduino
+board_build.core = earlephilhower
+
+[env:pico]
+board = pico
+lib_deps = 
+	arduino-libraries/Stepper@^1.1.3
+	waspinator/AccelStepper@^1.64

week4/examples/MotorProject/src/main.cpp

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+#include <Arduino.h>
+#include <Servo.h>
+#include <AccelStepper.h>
+
+#define STEP_PIN 0
+#define DIR_PIN 1
+
+// Create stepper instance using DRIVER interface
+AccelStepper stepper(AccelStepper::DRIVER, STEP_PIN, DIR_PIN);
+
+/*
+A Continuous servo example.
+With 360 continuous the 90 position is a stop
+180 rotates right
+0 rotates left
+*/
+//Servo myServo;
+
+//int pos = 0; 
+void setup() {
+  // myServo.attach(0); // Attach to GPIO 0 continuous mode
+  //myServo.attach(0, 500, 2500); //180 degree mode
+  // Set maximum speed and acceleration
+  stepper.setMaxSpeed(1000);      // Steps per second
+  stepper.setAcceleration(500);   // Steps per second^2
+  stepper.setCurrentPosition(0);  // Home position
+}
+
+void loop() {
+  /*
+  myServo.write(180);
+  delay(5000);
+  myServo.write(90);
+  delay(1000);
+  myServo.write(0);
+  delay(5000);
+  myServo.write(90);
+  delay(1000);
+  */
+  //hi
+  
+  /*
+  //180 degree version
+  for (pos = 0; pos <= 180; pos += 1) {
+    myServo.write(pos);    // tell servo to go to position in variable 'pos'
+    delay(10);               // waits 15ms for the servo to reach the position
+  }
+  
+  // goes from 180 degrees to 0 degrees
+  for (pos = 180; pos >= 0; pos -= 1) {
+    myServo.write(pos);    // tell servo to go to position in variable 'pos'
+    delay(10);               // waits 15ms for the servo to reach the position
+  }
+  */
+  // Move 800 steps forward (4 revolutions at 1/8 microstepping)
+  stepper.moveTo(800);
+  
+  // Run the motor to the target position
+  // run() must be called frequently in the loop
+  while (stepper.distanceToGo() != 0) {
+    stepper.run();
+  }
+  
+  delay(1000);
+  
+  // Move back to home
+  stepper.moveTo(0);
+  while (stepper.distanceToGo() != 0) {
+    stepper.run();
+  }
+  
+  delay(1000);
+}

week4/examples/MotorProject/test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html