pm-kit: hidden stepper jog/test mode (hold A+B at boot)
Hold both buttons at power-on to enter a self-contained jog screen: the joystick spins the stepper CW/CCW (speed by deflection), with an on-screen direction needle + RGB LED feedback. Runs in its own loop; power-cycle to return to normal. - app.py: _jog_loop drawn entirely in the overlay group (cover + labels + needle); Pendulum.spin() does a free half-step either way; _jog set when A+B held in init; run() branches to it before the normal loop. - boot.py: editor mode is now "A alone" (A pressed, B not). A+B stays in appliance mode, so the jog chord doesn't also flip the drive writable. Pure ASCII; conformance 47/47; build precompiles app.mpy. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Me Here
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5f3c518089
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2 changed files with 64 additions and 8 deletions
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@ -213,6 +213,8 @@ class Pendulum:
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def step_toward(self, target): # one half-step toward target
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if target > self.pos: self.phase += 1; self.pos += 1; self._write()
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elif target < self.pos: self.phase -= 1; self.pos -= 1; self._write()
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def spin(self, cw): # one free half-step either way (jog/test mode)
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self.phase += 1 if cw else -1; self._write()
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def release(self): # de-energize all coils (cool + quiet when idle)
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for d in self.io: d.value = False
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@ -538,6 +540,7 @@ class App:
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self._pendNext = 0.0 # ~30fps cadence for the on-screen pendulum
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self.btnA = self._btn(P_BTNA); self.btnB = self._btn(P_BTNB)
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self._aPrev = True; self._bPrev = True
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self._jog = (not self.btnA.value) and (not self.btnB.value) # both held at boot -> hidden jog/test mode
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self.jx = analogio.AnalogIn(P_JOYX); self.jy = analogio.AnalogIn(P_JOYY)
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self._joyNext = 0
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self._touchDown = False; self._touchSeen = 0
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@ -1128,6 +1131,54 @@ class App:
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self._pend_arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (bx, by)]
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self.dirty = True
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def _jog_loop(self): # hidden stepper jog/test (A+B held at boot)
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# Joystick L/R spins the motor CCW/CW (speed by how far you push). The on-screen needle + RGB
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# LED show direction. Runs forever; power-cycle with no buttons held to return to normal.
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while len(self.g_overlay): self.g_overlay.pop()
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self.g_overlay.append(rect(0, 40, WIDTH, HEIGHT - 40, C_BG)) # cover the normal UI
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for s, fnt, col, yy in (("STEPPER JOG TEST", FONT_M, C_CYAN, 64),
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("Joystick L = CCW R = CW", FONT_S, C_TXT, 96),
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("push further = faster", FONT_S, C_DIM, 114),
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("power-cycle (no buttons) to exit", FONT_S, C_DIM, 132)):
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tg, w, h = make_text(s, fnt, col, C_BG); tg.x = 12; tg.y = yy; self.g_overlay.append(tg)
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self.g_overlay.append(rect(PEND_PX - 26, PEND_PY + 4, 52, 4, C_PANEL)) # stand
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arm = vectorio.Polygon(pixel_shader=solid(C_DIM),
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points=[(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (PEND_PX, PEND_PY - PEND_LEN)], x=0, y=0)
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self.g_overlay.append(arm)
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self.g_overlay.append(vectorio.Circle(pixel_shader=solid(C_PANEL), radius=7, x=PEND_PX, y=PEND_PY))
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bob = vectorio.Circle(pixel_shader=solid(C_CYAN), radius=13, x=PEND_PX, y=PEND_PY - PEND_LEN)
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self.g_overlay.append(bob)
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self.display.refresh()
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time.sleep(0.1); center = self.jx.value
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last = time.monotonic(); lastdir = None
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while True:
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now = time.monotonic()
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dx = self.jx.value - center; mag = abs(dx)
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if mag > JOY_DEADZONE:
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cw = dx > 0
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frac = (mag - JOY_DEADZONE) / (32768 - JOY_DEADZONE)
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if frac > 1.0: frac = 1.0
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dt = 0.02 + (0.0015 - 0.02) * frac # full push = fast, just past deadzone = slow
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if self.pend is not None and self.pend.ok and now - last >= dt:
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self.pend.spin(cw); last = now
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if cw != lastdir: # direction changed -> update LED + needle
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lastdir = cw
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if cw: self.led.set(0, 150, 0)
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else: self.led.set(0, 0, 255)
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ang = PEND_THETA if cw else -PEND_THETA
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bx = PEND_PX + int(PEND_LEN * math.sin(ang)); by = PEND_PY - int(PEND_LEN * math.cos(ang))
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bob.x = bx; bob.y = by
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arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (bx, by)]
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self.display.refresh()
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elif lastdir is not None: # back to center -> stop, release, recentre needle
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lastdir = None
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if self.pend is not None and self.pend.ok: self.pend.release()
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self.led.set(0, 0, 0)
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bob.x = PEND_PX; bob.y = PEND_PY - PEND_LEN
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arm.points = [(PEND_PX - 4, PEND_PY), (PEND_PX + 4, PEND_PY), (PEND_PX, PEND_PY - PEND_LEN)]
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self.display.refresh()
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time.sleep(0.0005)
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# ---------- audio + light ----------
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def click(self, level):
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self.spk.frequency = {2: 2300, 1: 1600, 3: 1050}.get(level, 1600)
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@ -1893,6 +1944,8 @@ class App:
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if self.midi: self.midi.write(bytes([0xF0, 0x7D, 0x7F if ok else 0x7E, 0xF7]))
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def run(self):
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if self._jog: # A+B held at boot -> hidden stepper jog/test mode
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self._jog_loop()
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if self.touch.addr is None:
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print("GT911 touch not found")
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boot = time.monotonic()
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@ -4,19 +4,22 @@
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# /history.json and write /programs.json that the editor pushes over USB-MIDI. The drive is then
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# READ-ONLY to the computer — which also protects the firmware from accidental deletion.
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#
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# HOLD BUTTON A (GP15) WHILE PLUGGING IN = editor mode: the drive is writable by the computer, so
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# you can drag programs.json / code.py on from any OS or browser (the universal fallback). Reset
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# HOLD BUTTON A (GP15) ALONE WHILE PLUGGING IN = editor mode: the drive is writable by the computer,
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# so you can drag programs.json / code.py on from any OS or browser (the universal fallback). Reset
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# afterwards to return to appliance mode.
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#
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# HOLD BUTTON A + B TOGETHER = the firmware's hidden stepper jog/test mode (app.py). That chord
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# stays in appliance mode here (drive NOT flipped writable) so testing doesn't disturb the drive.
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#
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# Also frees a USB endpoint (disables unused HID) and makes sure USB-MIDI is available.
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import board, digitalio, storage, usb_hid, usb_midi
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try: usb_hid.disable()
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except Exception: pass
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usb_midi.enable()
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a = digitalio.DigitalInOut(board.GP15)
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a.switch_to_input(pull=digitalio.Pull.UP)
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appliance = a.value # value True (pull-up, not pressed) -> appliance mode
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a.deinit()
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if appliance:
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try: storage.remount("/", readonly=False) # writable by code, read-only to the computer
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a = digitalio.DigitalInOut(board.GP15); a.switch_to_input(pull=digitalio.Pull.UP)
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b = digitalio.DigitalInOut(board.GP14); b.switch_to_input(pull=digitalio.Pull.UP)
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editor = (not a.value) and b.value # editor mode = A pressed, B NOT pressed (A+B is the jog chord)
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a.deinit(); b.deinit()
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if not editor:
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try: storage.remount("/", readonly=False) # appliance: writable by code, read-only to the computer
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except Exception: pass
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