Added quad servo adc example

examples/board/monitor_internals.py

@@ -2,6 +2,8 @@
 
 """
 Use Yukon's monitoring function to read the internal sensors.
+Power needs to be provided to the XT30 connector, otherwise
+the monitoring will raise an UnderVoltageError.
 """
 
 # Constants
@@ -16,9 +18,11 @@
     while not yukon.is_boot_pressed():
 
         # Monitor sensors for a number of seconds, recording the min, max, and average for each
-        # With the default logging level, these values will be also be printed out
         yukon.monitored_sleep(SLEEP)
 
+        # Print out the readings taken during monitoring
+        yukon.print_readings()
+
 finally:
     # Put the board back into a safe state, regardless of how the program may have ended
     yukon.reset()

examples/modules/quad_servo/all_servos.py

@@ -21,7 +21,7 @@
 CLUSTER_SM = 0                  # The State Machines (SM) to use to drive the servo cluster
 
 # Variables
-yukon = Yukon()                 # Create a new Yukon object, with its logging level lowered
+yukon = Yukon()                 # Create a new Yukon object
 modules = []                    # A list to store QuadServo module objects created later
 phase_offset = 0                # The offset used to animate the servos
 

examples/modules/quad_servo/four_servos.py

@@ -20,7 +20,7 @@
 START_DELAY = 0.5               # The time to sleep between activating and animating the servos
 
 # Variables
-yukon = Yukon()                 # Create a new Yukon object, with its logging level lowered
+yukon = Yukon()                 # Create a new Yukon object
 module = QuadServoModule()      # Create a QuadServoModule object
 phase_offset = 0                # The offset used to animate the servos
 

examples/modules/quad_servo/multiple_servos.py

@@ -17,7 +17,7 @@
 START_DELAY = 0.5               # The time to sleep between activating and animating the servos
 
 # Variables
-yukon = Yukon()                 # Create a new Yukon object, with its logging level lowered
+yukon = Yukon()                 # Create a new Yukon object
 modules = []                    # A list to store QuadServo module objects created later
 phase_offset = 0                # The offset used to animate the servos
 

examples/modules/quad_servo/servo_feedback.py

@@ -0,0 +1,47 @@
+import math
+from pimoroni_yukon import Yukon
+from pimoroni_yukon.modules import QuadServoDirectModule
+from pimoroni_yukon.timing import ticks_ms, ticks_add
+
+"""
+How to read the analog inputs on Quad Servo Direct modules connected to Slots.
+"""
+
+# Constants
+SLEEP = 0.5         # The time to sleep between each reading
+SAMPLES = 1         # How many times each input should be sampled. Increasing this will reduce noise but take longer to run
+
+# Variables
+yukon = Yukon()                 # Create a new Yukon object
+modules = []                    # A list to store QuadServo module objects created later
+
+
+# Wrap the code in a try block, to catch any exceptions (including KeyboardInterrupt)
+try:
+    # Find out which slots of Yukon have QuadServoDirectModules attached
+    for slot in yukon.find_slots_with(QuadServoDirectModule):
+        module = QuadServoDirectModule()        # Create a QuadServoDirectModule object
+        yukon.register_with_slot(module, slot)  # Register the QuadServoDirectModule object with the slot
+        modules.append(module)                  # Add the object to the module list
+
+    # Record the number of servos that will be driven
+    NUM_SERVOS = len(modules) * QuadServoDirectModule.NUM_SERVOS
+    print(f"Up to {NUM_SERVOS} servos available")
+
+    yukon.verify_and_initialise()               # Verify that QuadServo modules are attached to Yukon, and initialise them
+    yukon.enable_main_output()                  # Turn on power to the module slots
+
+    # Loop until the BOOT/USER button is pressed
+    while not yukon.is_boot_pressed():
+
+        # Read all the sensors and print out their values
+        for index, module in enumerate(modules):
+            print(f"[M{index}] A1 = {module.read_adc1()}, A2 = {module.read_adc2()}", end=", ")
+        print()
+
+        # Monitor sensors for a number of seconds, recording the min, max, and average for each
+        yukon.monitored_sleep(SLEEP)
+
+finally:
+    # Put the board back into a safe state, regardless of how the program may have ended
+    yukon.reset()

lib/pimoroni_yukon/__init__.py

@@ -625,7 +625,7 @@ def monitor(self):
             self.__undervoltage_count += 1
             if self.__undervoltage_count > self.UNDERVOLTAGE_COUNT_LIMIT:
                 self.disable_main_output()
-                raise UnderVoltageError(f"[Yukon] Input voltage of {voltage_in}V below minimum operating level. Turning off output")
+                raise UnderVoltageError(f"[Yukon] Input voltage of {voltage_in}V below minimum operating level of {self.VOLTAGE_LOWER_LIMIT}V. Turning off output")
         else:
             self.__undervoltage_count = 0
 

lib/pimoroni_yukon/modules/quad_servo_direct.py

@@ -71,8 +71,8 @@ def servo4(self):
             return self.servos[3]
         raise RuntimeError("servo4 is only accessible if init_servos was True during initialisation")
 
-    def read_adc1(self):
-        return self.__read_adc1()
+    def read_adc1(self, samples=1):
+        return self.__read_adc1(samples)
 
-    def read_adc2(self):
-        return self.__read_adc2()
+    def read_adc2(self, samples=1):
+        return self.__read_adc2(samples)