Pimpest
a4691caeed
* Added primary stepper motor driver code to repo * Added odometery encoder code to repo * Added the ability to update encoder wheel ratio via ros service Co-authored-by: Pimpest <82343504+Pimpest@users.noreply.github.com> Co-committed-by: Pimpest <82343504+Pimpest@users.noreply.github.com>
31 lines
890 B
Plaintext
31 lines
890 B
Plaintext
.program oscillate
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pause:
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pull block
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out x,32
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.wrap_target
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pull noblock
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out x, 32
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mov y, x
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set pins, 1 ; Pin ON
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jmp y-- lp1 ; Delay for (x + 1) cycles, x is a 32 bit number
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jmp pause
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lp1:
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jmp y-- lp1 ; Delay for (x + 1) cycles, x is a 32 bit number
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mov y, x
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set pins, 0 [2] ; Pin OFF
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lp2:
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jmp y-- lp2 ; Delay for the same number of cycles again
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.wrap ; Blink forever!
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% c-sdk {
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// this is a raw helper function for use by the user which sets up the GPIO output, and configures the SM to output on a particular pin
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void oscillate_program_init(PIO pio, uint sm, uint offset, uint pin) {
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pio_gpio_init(pio, pin);
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pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, true);
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pio_sm_config c = oscillate_program_get_default_config(offset);
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sm_config_set_set_pins(&c, pin, 1);
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pio_sm_init(pio, sm, offset, &c);
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}
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%} |