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pm-kit: pendulum swing as a single degrees knob (PEND_SWING_DEG=120)

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Make the swing arc one source of truth in degrees, driving both the screen
graphic (exactly) and the physical arm (mapped through STEPPER_STEPS_PER_REV).
Set to 120 deg end-to-end. PEND_THETA now derives from it; STEPPER_ARC =
steps_per_rev * deg/360. Graphic geometry verified on-screen at 120 deg.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
This commit is contained in:
Me Here 2026-06-05 21:26:17 -05:00
parent 0eb38f1c1e
commit 5f3c518089
1 changed files with 4 additions and 2 deletions
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6
pico-cp/app.py
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@ -68,7 +68,9 @@ JOY_INVERT_Y = False
JOY_DEADZONE = 9000 JOY_DEADZONE = 9000
# Pendulum stepper (optional): a 4-input unipolar motor (e.g. ULN2003) swung in time with the beat. # Pendulum stepper (optional): a 4-input unipolar motor (e.g. ULN2003) swung in time with the beat.
STEPPER_ENABLED = True # set False if no motor is wired (the pins just stay free) STEPPER_ENABLED = True # set False if no motor is wired (the pins just stay free)
STEPPER_ARC = 120 # half-steps for one end-to-end swing (= one beat). Tune to your arm's travel. PEND_SWING_DEG = 120 # total swing arc, end-to-end, in degrees - drives BOTH the screen graphic and the arm
STEPPER_STEPS_PER_REV = 4096 # your motor's half-steps per full 360 turn (28BYJ-48 half-step ~4096); maps deg -> steps
STEPPER_ARC = round(STEPPER_STEPS_PER_REV * PEND_SWING_DEG / 360.0) # half-steps for one end-to-end swing
STEPPER_MAX_RATE = 900 # max half-steps/sec the motor can follow; auto-shrinks the arc at fast tempi STEPPER_MAX_RATE = 900 # max half-steps/sec the motor can follow; auto-shrinks the arc at fast tempi
# ----- pins (fixed by the EP-0172 board) ----- # ----- pins (fixed by the EP-0172 board) -----
@ -168,7 +170,7 @@ MIN_LOG_SEC = 5 # don't log plays shorter t
PEND_PX = WIDTH // 2 # pivot x (screen centre) PEND_PX = WIDTH // 2 # pivot x (screen centre)
PEND_PY = HEIGHT - 16 # pivot y (near the bottom edge) PEND_PY = HEIGHT - 16 # pivot y (near the bottom edge)
PEND_LEN = 140 # arm length (px) PEND_LEN = 140 # arm length (px)
PEND_THETA = 0.66 # half-swing angle in radians (~38 deg) PEND_THETA = math.radians(PEND_SWING_DEG) / 2.0 # half-swing angle (radians), derived from PEND_SWING_DEG
PAD_DIM = (0x10161E, 0x0A3A52, 0x4A3010, 0x2A1D4A) # idle pad: mute / normal / accent / ghost PAD_DIM = (0x10161E, 0x0A3A52, 0x4A3010, 0x2A1D4A) # idle pad: mute / normal / accent / ghost
PAD_LIT = (0x39414D, 0x0AB3F7, 0xFF9B2E, 0x967BFF) # playhead pad: mute / normal / accent / ghost PAD_LIT = (0x39414D, 0x0AB3F7, 0xFF9B2E, 0x967BFF) # playhead pad: mute / normal / accent / ghost
C_GRID = 0x1A2330 # faint vertical beat gridlines (beats line up across lanes) C_GRID = 0x1A2330 # faint vertical beat gridlines (beats line up across lanes)