RP2040 Single Board Computer

Examples and various testing functions in diagnostics.py

Instantiate SBC:

from sbc import SBC
lab = SBC()
or
lab = SBC(i2c = i2c_bus)

* either pass a i2c bus, or SBC class will start its own i2c bus on GP16 and GP17

Teardown SBC:

lab.deinit()

VERY STRONGLY SUGGESTED TO IMPLEMENT:
import atexit
def exit_program():
	lab.deinit()
atexit.register(exit_program)

If you don't do this, you may have an interesting time.

Motors:

Must be instantiated by user.
Returns lab._mot1 or lab._mot2

use motors with in1 / in2 as pwm, and en digital
	lab._init_mot1_pwm()
	lab._init_mot2_pwm()

use motors with in1 / in2 as digital, and en pwm
	lab._init_mot1_dig()
	lab._init_mot2_dig()

	* Can also be used in 2pin mode with in1 (pwm) and in2 (digital) by
	instantiating directly through L298N_dig class in mot.py.
	PWMOut and DigitalInOut must be established externally and passed in.


Examples using mot1:
	lab._mot1.min_bias = x	# DC bias, where x is [-1,1]; default to 0
	lab._mot1.off()		# disable en
	lab._mot1.free_spin()	# free spin
	lab._mot1.brake()	# brake
	lab._mot1.set_w(speed)	# where 'speed' is [-1,1]; default to 0
	lab._mot1.last_w	# returns last speed set.

AD5293 Digital Pot:

Instantiated automatically by SBC class:
	lab._digipot_device

Examples:
	lab._digipot_device.set_pot(val)	# Set digital pot, val [-1,1]

MAX522 Digital to Analog:

Instantiated automatically by SBC class:
	lab._dac_device

Examples:
	'val' in the following examples shall be [0,1]

	lab._dac_device.set_dac_all(val)	# Set both channels
	lab._dac_device.set_dac_A(val)		# Set chA
	lab._dac_device.set_dac_B(val)		# Set chB
	lab._dac_device.shutdown_all()		# Shutdown both channels
	lab._dac_device.shutdown_A()		# Shutdown chA
	lab._dac_device.shutdown_B()		# Shutdown chB
	lab._dac_device.activate()		# Turn it all back on after shutdown

MAX1270 Analog to Digital:

Instantiated automatically by SBC class:
	lab._adc_device

Examples:
	'ch' in the following examples shall be [0,7]; defaults to 0

	lab._adc_device.default_channel = ch	# Set a default channel; default 0
	lab._adc_device.bipolar	= 0		# 0 unipolar, 1 bipolar; default 0
	lab._adc_device.range = 0		# 0 5V range, 1 10V range; default 0
	lab._adc_device.read(ch)		# Returns reading as normalized [-1,1]
	lab._adc_device.read_volts(ch)		# Returns reading in Volts
	lab._adc_device.last_values		# Returns dictionary of the last reading on
							each channel; normalized [-1,1]
							ie last_values[0] for ch0

LS7366 encoder counters 1 and 2:

Instantiated automatically by SBC class:
	lab._enc_device1
	lab._enc_device2

Examples using encoder 1:
	lab._enc_device1.read_counter()		# Pull latest count from the device
	lab._enc_device1.last_count		# Returns the last count
	lab._enc_device1.pause()		# Pause encoder counting
	lab._enc_device1.resume()		# Resume encoder counting

	* There is significantly more functionality available on this device.
	Count range. How to handle rollover. Half / Full Quadrature.
	And more!
	These are all implemented in the LS7366 class, but their explanation is beyond
	the scope of this quick setup guide. Check comments in the LS7366 class and datasheet.