Robot_Principal_2024-2025/motion controller code

Motion controler code for the RPI Pico (RP2040)

This project is a motion controller firmware for the RPI Pico (RP2040), designed for plug-and-play use with modular code and a clear architecture.

I2C description

The robot’s I2C communication works as follows:

• Send the device address + R/W bit (to select read or write mode).
• Send the target register address (to read from or write to).
• Read or write the register data. Multiple registers can be read/written sequentially, with the address auto-incrementing after each operation.

This firmware is coded to be a slave when adressed. Its address is 0x09 which you can change if there is any conflict whit other hardware.

Adress	R/W	Description	Encoding
0x00	W	Speed motor 1	-128 - 127
0x01	W	Speed motor 2	-128 - 127
0x02	W	Speed motor 3	-128 - 127
0x03	W	Speed motor 4	-128 - 127
0x04	W	Servo 1 position selection	0 - 1
0x05	W	Servo 2 position selection	0 - 1
0x06	W	Servo 3 position selection	0 - 1
0x07	W	Servo 4 position selection	0 - 1

Motors communication description

Motors are «connected» to their respective I2C buffer address.

To control a motor you need to write data to its adress of the form :

int8_t speed;

Value goes from -128 to 127.

Servo motors communication description

Servo motors are «connected» to their respective I2C buffer address.

To control a servo motor you need to write data to its adress of the form :

uint8_t close;

Value is 0 or 1 for the open pos or the close pos.

Pinout description

Pin	Description	GPIO Type
0	Motor1 Speed	PWM
1	Motor2 Speed	PWM
2	Motor3 Speed	PWM
3	Motor4 Speed	PWM
4	Motor1 Dir1	OUTPUT
5	Motor1 Dir2	OUTPUT
6	Motor2 Dir1	OUTPUT
7	Motor2 Dir2	OUTPUT
8	Motor3 Dir1	OUTPUT
9	Motor3 Dir2	OUTPUT
10	Motor4 Dir1	OUTPUT
11	Motor5 Dir2	OUTPUT
12	Servo1 Angle	PWM
13	Servo2 Angle	PWM
14	Servo3 Angle	PWM
15	Servo4 Angle	PWM
21	I2C Bus SDA	I2C
20	I2C Bus SCL	I2C