Merge branch 'dev/paul/menu' of gitlab.pololu.work:dev/pololu-3pi-204…

…0-robot

micropython_demo/main.py

@@ -28,7 +28,7 @@
 try:
     from pololu_3pi_2040_robot.extras.splash_loader import splash_loader
     splash_loader(
-        default_program = "blink.py",
+        default_program = None, # "my_program.py"
         splash_delay_s = 6, # delay while waiting for a button
         run_file_delay_ms = 700 # extra delay to show the action
         )
@@ -60,5 +60,8 @@
     from pololu_3pi_2040_robot.rgb_leds import RGBLEDs
     RGBLEDs()  # turn off RGB LEDs
 
+    # don't leave extra classes lying around
+    del Motors, Buzzer, RGBLEDs, splash_loader
+
     # make the REPL friendlier, if you enter it the right way
     from pololu_3pi_2040_robot import robot

micropython_demo/pololu_3pi_2040_robot/extras/splash_loader.py

@@ -19,6 +19,7 @@ def splash_loader(*, default_program, splash_delay_s, run_file_delay_ms):
     from pololu_3pi_2040_robot.rgb_leds import RGBLEDs
     from pololu_3pi_2040_robot.yellow_led import YellowLED
     import time
+    from machine import PWM
 
     button_a = ButtonA()
     button_b = ButtonB()
@@ -27,13 +28,23 @@ def splash_loader(*, default_program, splash_delay_s, run_file_delay_ms):
     buzzer = Buzzer() # turns off buzzer
     rgb_leds = RGBLEDs() # turns off RGB LEDs
     rgb_leds.set_brightness(4)
-    YellowLED() # turns off yellow LED
+
+    # Initialize a PWM on the yellow LED at 0% duty cycle, which
+    # corresponds to full brightness.  We can't initialize PWM with
+    # the LED off so we'll just have it on for a while.
+    pwm = PWM(YellowLED().pin)
+    pwm.freq(1000)
+    pwm.duty_u16(0)
 
     def del_vars():
         nonlocal display, splash, button_a, button_b, button_c, battery
-        nonlocal buzzer, rgb_leds
+        nonlocal buzzer, rgb_leds, pwm
+
+        pwm.deinit()
+        YellowLED() # turn off yellow LED and reset to an output
+
         del display, splash, button_a, button_b, button_c, battery
-        del buzzer, rgb_leds
+        del buzzer, rgb_leds, pwm
 
     def read_button():
         if button_a.is_pressed(): return "A"
@@ -67,7 +78,11 @@ def initial_screen():
             display.blit(splash, 0, offset)
             display.text('Push C for menu', 0, 68+offset)
             display.text('Default ({}s):'.format(countdown_s), 0, 78+offset)
-            display.text('   '+default_program, 0, 88+offset)
+
+            if default_program:
+                display.text('   '+default_program, 0, 88+offset)
+            else:
+                display.text('      menu', 0, 88+offset)
 
             display.show()
 
@@ -85,10 +100,12 @@ def initial_screen():
                     rgb_leds.set(4-i, [0, 0, 0])
                     rgb_leds.set((4+i)%6, [0, 0, 0])
             rgb_leds.show()
+
         return None
 
     def run_file(filename):
         rgb_leds.off()
+        YellowLED() # turns off the LED even from PWM
         if run_file_delay_ms:
             display.fill(0)
             display.text('Run file:', 0, 0)
@@ -105,6 +122,7 @@ def run_file(filename):
     # Runs the bootloader in the RP2040's Bootrom.
     def run_bootloader():
         rgb_leds.off()
+        YellowLED() # turns off the LED even from PWM
         if run_file_delay_ms:
             display.fill(0)
             display.text('Bootloader...', 0, 0)
@@ -121,6 +139,7 @@ def run_bootloader():
     # your program or by sending Ctrl+C to the USB virtual serial port.
     def run_repl():
         rgb_leds.off()
+        YellowLED() # turns off the LED even from PWM
         if run_file_delay_ms:
             display.fill(0)
             display.text('exit to REPL...', 0, 0)
@@ -136,6 +155,8 @@ def menu():
 
         from pololu_3pi_2040_robot.extras.menu import Menu
         import os
+        from math import exp
+
         start_ms = time.ticks_ms()
         options = sorted(f for f in os.listdir() if f.endswith(".py") and f != "main.py")
         options += ["bootloader", "exit to REPL"]
@@ -148,16 +169,26 @@ def menu():
         menu.next_button = button_c
         i = None
         mv = None
+
         while i == None:
             t = time.ticks_ms()
+            elapsed_ms = time.ticks_diff(t, start_ms)
+
+            x = ((elapsed_ms + 1500) % 3000 - 1500) / 1500
+            b = exp(-12.5*x*x)
+
+            pwm.duty_u16(65535 - int(b * 65535))
+
             if not mv or time.ticks_diff(t, mv_time) > 200:
                 mv = battery.get_level_millivolts()
                 mv_time = t
-            if time.ticks_diff(t, start_ms) % 4000 < 2000:
-                menu.top_message = "Run: (^A *B Cv)"
+            if elapsed_ms % 4000 < 2000:
+                menu.top_message = 'Run: (^A *B Cv)'
             else:
-                menu.top_message = "Battery: {:.2f} V".format(mv/1000)
+                menu.top_message = f"Battery: {mv/1000:.2f} V"
+
             i = menu.update()
+
         option = options[i]
         if option == "bootloader":
             run_bootloader()
@@ -176,10 +207,13 @@ def menu():
         button = initial_screen()
 
     if button == None:
-        run_file(default_program)
-    elif button == "C":
+        if default_program:
+            run_file(default_program)
+        else:
+            menu()
+    elif button == 'C':
         menu()
-    elif button == "B":
+    elif button == 'B':
         run_bootloader()
     else: # A
         run_repl()