pimoroni-pico: Inventor 2040 W, some examples don't work correctly?

I have an Inventor 2040 W with two micro metal gear motors plus encoders. Both are connected to the motor connectors with the required 6 wire cables.

read_encodes.py runs fine, and shows the correct rotation as I turn the wheels by hand.

reactive_encoder.py fails. If I turn the wheel clockwise it immediately starts turning on its own and won’t stop. Going counter clockwise works until I go past detent 11. Then it starts spinning counterclockwise and won’t stop.

driving_sequence.py turns both motors on and they just continuously run at 2.1 with no change in speed or direction.

LEFT = -2.212428, RIGHT = -2.211421, 
LEFT = -2.203851, RIGHT = -2.210657, 
LEFT = -2.20833, RIGHT = -2.197961, 
LEFT = -2.220342, RIGHT = -2.190321,

The LED’s continue to cycle colors until I click stop.

If you’d like me to run another example just let me know. Something is broken with my setup? I don’t know if its hardware or software, but something is messed up somewhere. I get the same results with Pimoroni v1.21.0 and v1.22.2.

About this issue

Original URL
State: closed
Created 3 months ago
Comments: 17 (9 by maintainers)

Most upvoted comments

For 50:1 motors I’m using 5.4. This matches the top speed I got out of the motors when running motor_profiler.py. In your case you can set your speed scale to 2.2. Or if you want your speed to be in RPM, then divide this by 60 to give 0.0366rpm.

ZodiusInfuser on Apr 3, 2024

board = Inventor2040W(motor_gear_ratio=GEAR_RATIO)

enc_A = board.encoders[MOTOR_A]
enc_B = board.encoders[MOTOR_B]
A = board.motors[MOTOR_A]
B = board.motors[MOTOR_B]
A.speed_scale(SPEED_SCALE)
B.speed_scale(SPEED_SCALE)
A.direction(REVERSED_DIR)
enc_A.direction(NORMAL_DIR)
B.direction(NORMAL_DIR)
enc_B.direction(REVERSED_DIR)

Appears to get the driving_sequence.py to work. The wheels are going the way I want and the readings match the direction and speed. Near as i can tell anyway. Thankyou for replying to this issue.

alphanumeric007 on Apr 3, 2024