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 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 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.