Add KidMotor V4 board

Author: maxpromer

ports/rp2/boards/KidMotor_V4/board.json

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+{
+    "deploy": [
+        "../deploy.md"
+    ],
+    "docs": "",
+    "features": [
+        "Breadboard friendly",
+        "Castellated Pads",
+        "Micro USB"
+    ],
+    "id": "rp2-pico",
+    "images": [
+        "rp2-pico.jpg"
+    ],
+    "mcu": "rp2040",
+    "product": "Pico",
+    "thumbnail": "",
+    "url": "https://www.raspberrypi.org/products/raspberry-pi-pico/",
+    "vendor": "Raspberry Pi"
+}

ports/rp2/boards/KidMotor_V4/manifest.py

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+include("$(PORT_DIR)/boards/manifest.py")
+freeze("modules")

ports/rp2/boards/KidMotor_V4/modules/motor.py

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+# Dev by Sonthaya Nongnuch
+
+from machine import Pin, PWM
+from time import sleep
+from micropython import const
+
+FORWARD     = const(1)
+BACKWARD    = const(2)
+TURN_LEFT   = const(3)
+TURN_RIGHT  = const(4)
+
+__m1_a = PWM(Pin(13))
+__m1_a.freq(1000)
+
+__m1_b = PWM(Pin(14))
+__m1_b.freq(1000)
+
+__m2_a = PWM(Pin(17))
+__m2_a.freq(1000)
+
+__m2_b = PWM(Pin(16))
+__m2_b.freq(1000)
+
+def wheel(speed_left, speed_right):
+    dir1 = 0 if speed_left >= 0 else 1
+    if speed_left < 0:
+        speed_left = speed_left * -1
+    speed_left = 65535 - min(max(int(speed_left / 100 * 65535), 0), 65535)
+    __m1_a.duty_u16(65535 if dir1 == 1 else speed_left)
+    __m1_b.duty_u16(speed_left if dir1 == 1 else 65535)
+
+    dir2 = 1 if speed_right >= 0 else 0
+    if speed_right < 0:
+        speed_right = speed_right * -1
+    speed_right = 65535 - min(max(int(speed_right / 100 * 65535), 0), 65535)
+    __m2_a.duty_u16(65535 if dir2 == 1 else speed_right)
+    __m2_b.duty_u16(speed_right if dir2 == 1 else 65535)
+
+def forward(speed=50, time=1):
+    wheel(speed, speed)
+    sleep(time)
+    wheel(0, 0)
+
+def backward(speed=50, time=1):
+    wheel(speed * -1, speed * -1)
+    sleep(time)
+    wheel(0, 0)
+
+def turn_left(speed=50, time=1):
+    wheel(0, speed)
+    sleep(time)
+    wheel(0, 0)
+
+def turn_right(speed=50, time=1):
+    wheel(speed, 0)
+    sleep(time)
+    wheel(0, 0)
+
+def move(dir, speed):
+    if dir == FORWARD:
+        wheel(speed, speed)
+    elif dir == BACKWARD:
+        wheel(speed * -1, speed * -1)
+    elif dir == TURN_LEFT:
+        wheel(0, speed)
+    elif dir == TURN_RIGHT:
+        wheel(speed, 0)
+
+def stop():
+    wheel(0, 0)

ports/rp2/boards/KidMotor_V4/modules/servo.py

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+# Dev by Sonthaya Nongnuch
+
+from machine import Pin, PWM
+
+SV1 = Pin(18)
+SV2 = Pin(19)
+SV3 = Pin(20)
+
+SV1_obj = PWM(SV1)
+SV1_obj.freq(50)
+SV1_obj.duty_ns(0)
+
+SV2_obj = PWM(SV2)
+SV2_obj.freq(50)
+SV2_obj.duty_ns(0)
+
+SV3_obj = PWM(SV3)
+SV3_obj.freq(50)
+SV3_obj.duty_ns(0)
+
+MIN = 500000
+MAX = 2500000
+
+def angle(pin, angle):
+    angle_to_ns = int(MIN + ((angle / 180.0) * (MAX - MIN)))
+    if pin == SV1:
+        SV1_obj.duty_ns(angle_to_ns)
+    elif pin == SV2:
+        SV2_obj.duty_ns(angle_to_ns)
+    elif pin == SV3:
+        SV3_obj.duty_ns(angle_to_ns)
+    else:
+        servo_tmp = PWM(pin, freq=50)
+        servo_tmp.freq(50)
+        servo_tmp.duty_ns(angle_to_ns)
+
+def timing(min_ns=500000, max_ns=2500000):
+    global MIN, MAX
+    MIN = min_ns
+    MAX = max_ns

ports/rp2/boards/KidMotor_V4/mpconfigboard.cmake

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+# cmake file for Raspberry Pi Pico
+set(MICROPY_FROZEN_MANIFEST ${MICROPY_BOARD_DIR}/manifest.py)

ports/rp2/boards/KidMotor_V4/mpconfigboard.h

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+// Board and hardware specific configuration
+#define MICROPY_HW_BOARD_NAME                   "KidMotor V4"
+#define MICROPY_HW_FLASH_STORAGE_BYTES          (1408 * 1024)