RGB Led Control

Turning LED on & off with gpio pin

1. define pin led is attached to:

   #define BLUE 0

2. in main, setup gpio as an output:

   gpio_init(BLUE); 
   gpio_set_dir(BLUE, true); //output

3. in while loop, turn on/off led:

   gpio_put(BLUE, true); //on
   gpio_put(BLUE, false); //off

Driving LED with PWM

Set up LED struct & functions:

Create library file here: rcc-pico/dev/pico/include/led_pwm.h

1. Have this at top of file:

#include "hardware/pwm.h"
#include "pico/stdlib.h"
#include <math.h>
#include <stdlib.h>
#include "rcc_pins.h"

using namespace std;

Reference: rcc-pico/dev/pico/include/pwm_helper.h

2. Create new struct RGBLED of 3 Servo structs, like Motor
3. Create LEDInit() function, like MotorInit()
4. Create LEDOn() function, like MotorOn()
5. Create LEDPower() function, like MotorPower()
hint: use freq around 500 when calling LEDPower()

Test function

• Within your .cpp file, include your led driver library:

#include "led_pwm.h"

• Is your function able to set power to all 3 leds?

Build State Machine

• Have each led's brightness fade in and out over time
• Add LED's to follow-at-a-distance or target-acquired state machine
• Have LED's get brighter when object is closer to lidar
• Have LED's track angular velocity or encoder readings
• Get creative with it:)