neuropico.py

from machine import Pin, I2C, UART
from micropython import const
from .driver.ws2812c import WS2812C
from .utilty.debounce import DebouncedInput
from .motor import Motor
from .port import AnalogPort, DigitalPort
from .amplifier import Amplifier


class NeuroPico:

    PIN_LED = const(16)

    PIN_BTNA = const(20)
    PIN_BTNB = const(19)

    PIN_SCL = const(25)
    PIN_SDA = const(24)

    PIN_MOTOR_A = const(6)
    PIN_MOTOR_B = const(7)

    PIN_ENC_A = const(4)
    PIN_ENC_B = const(5)

    PIN_MOTOR_EN = const(23)

    PIN_CLK_IN = const(13)
    PIN_CLK_nEN = const(12)

    PIN_PORT1_A = const(17)
    PIN_PORT1_B = const(26)
    PIN_PORT2_A = const(18)
    PIN_PORT2_B = const(27)
    PIN_PORT3_A = const(21)
    PIN_PORT3_B = const(28)
    PIN_PORT4_A = const(22)
    PIN_PORT4_B = const(29)

    ADDR_AMP1 = const(0x18)
    ADDR_AMP2 = const(0x4C)
    ADDR_AMP3 = const(0x1A)
    ADDR_AMP4 = const(0x4E)

    PIN_PORT5_A = const(2)
    PIN_PORT5_B = const(3)
    PIN_PORT5_C = const(0)
    PIN_PORT5_D = const(1)
    PIN_PORT6_A = const(8)
    PIN_PORT6_B = const(9)
    PIN_PORT6_C = const(10)
    PIN_PORT6_D = const(11)

    PIN_LVL_SWITCH_5 = const(14)
    PIN_LVL_SWITCH_6 = const(15)

    CLK_SPEED = const(100_000)

    def __init__(self):
        self.LED = WS2812C(Pin(self.PIN_LED))
        self.BTNA = DebouncedInput(self.PIN_BTNA, DebouncedInput.High, debounce_ms=20)
        self.BTNB = DebouncedInput(self.PIN_BTNB, DebouncedInput.High, debounce_ms=20)
        self.I2C = I2C(id=0, scl=self.PIN_SCL, sda=self.PIN_SDA, freq=400_000)
        self.MOTOR = Motor(
            pwm_pin_a=self.PIN_MOTOR_A,
            pwm_pin_b=self.PIN_MOTOR_B,
            enable_pin=self.PIN_MOTOR_EN,
            encoder_pin_a=self.PIN_ENC_A,
            encoder_pin_b=self.PIN_ENC_B,
            i2c=self.I2C,
        )
        self.PORT1 = AnalogPort(self.PIN_PORT1_A, self.PIN_PORT1_B, Amplifier(self.I2C, self.ADDR_AMP1))
        self.PORT2 = AnalogPort(self.PIN_PORT2_A, self.PIN_PORT2_B, Amplifier(self.I2C, self.ADDR_AMP2))
        self.PORT3 = AnalogPort(self.PIN_PORT3_A, self.PIN_PORT3_B, Amplifier(self.I2C, self.ADDR_AMP3))
        self.PORT4 = AnalogPort(self.PIN_PORT4_A, self.PIN_PORT4_B, Amplifier(self.I2C, self.ADDR_AMP4))
        self.PORT5 = DigitalPort(
            self.PIN_PORT5_A, self.PIN_PORT5_B, self.PIN_PORT5_C, self.PIN_PORT5_D, self.PIN_LVL_SWITCH_5, 0, 0
        )
        self.PORT6 = DigitalPort(
            self.PIN_PORT6_A, self.PIN_PORT6_B, self.PIN_PORT6_C, self.PIN_PORT6_D, self.PIN_LVL_SWITCH_6, 1, 1
        )
        self.PORT7 = self.I2C

        self.CLK_IN = UART(0, rx=self.PIN_CLK_IN, baudrate=self.CLK_SPEED)
        self.CLK_nEN = Pin(self.PIN_CLK_nEN, Pin.OUT, 1)