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Kitronik-Pico-Robotics-Board-MicroPython

A class and sample code to use the Kitronik Robotics board for Raspberry Pi Pico. (www.kitronik.co.uk/5329)

This is the microPython version. For CircuitPython see: https://github.com/KitronikLtd/Kitronik-Pico-Robotics-Board-CircuitPython

To use save PicoRobotics.py file onto the Pico so it can be imported

Import the library and construct an instance:

import PicoRobotics
board = PicoRobotics.KitronikPicoRobotics()

This will initialise the PCA to default values.

Drive a motor:

board.motorOn(motor, direction, speed)

where:

• motor => 1 to 4
• direction => f or r
• speed => 0 to 100

Stop a motor:

board.motorOff(motor)

where:

• motor => 1 to 4

Drive a Servo:

board.servoWrite(servo, degrees)

where:

• servo => 1 to 8
• degrees => 0-180

board.servoWriteRadians(servo, radians)

where:

• servo => 1 to 8
• radians => 0 to 3.1416 (Pi to four digits)

Drive a Stepper:

board.step(stepperMotor,direction,steps)

where:

• stepperMotor => 1 or 2 (stepper 1 is DC motors 1 and 2, stepper 2 is DC motors 3 and 4)
• direction => f or r
• steps => how many steps to make

To step an angle:

board.stepAngle(stepperMotor, direction, angle)

where

• stepperMotor => 1 or 2 (stepper 1 is DC motors 1 and 2, stepper 2 is DC motors 3 and 4)
• direction => f or r
• angle => how many degrees to move

The stepper code assumes 200 steps per rev (1.8 degrees resolution) and only does full steps. There are defaulted parameters for stepper speeds (default 20mS pause between steps), hold position when finished stepping (off - saves energy) and how many steps per rev (200). Look at the function headers and function comments in PicoRobotics.py for more detail if you need to change them.

Troubleshooting

If the code is run without the Pico Robotics board connected, or if the board is not powered up it islikely that it will throw an OS Error (usually OS Error 5). This is because it tries to communicate with an I2C device which is not responding.

This code is designed to be used as a module. See: https://kitronik.co.uk/blogs/resources/modules-micro-python-and-the-raspberry-pi-pico for more information