DonkeyHatZero

This is the repo for the new Donkeycar RC hat (aka Donkeyhat) for the Raspberry Pi. It has a Waveshare RP2040-zero microprocessor running CircuitPython 9.x and has the following functions:

• Read three channels of RC input from a standard RC receiver
• Control two servo channels (steering and throttle)
• Communicates with the RaspberryPi via hardware serial/UART
• Display data on an OLED screen (controlled by the Raspberry Pi via I2C)
• Reads two wheel/shaft encoders, and can handle both single channel and quadrature encoders
• Blinks a Neopixel LED to show normal operation

Instructructions:

• Copy the CircuitPython firmware to the RP2040 following these instructions: https://circuitpython.org/board/waveshare_rp2040_zero/
• Copy the required Neopixel library files to the "lib" directory of your RP2040 as instructed here: https://learn.adafruit.com/circuitpython-essentials/circuitpython-neopixel
• Copy the code.py file to the root for the RP2040 (CircuitPython always runs code.py at startup)
• Use the Mu Editor for modifying the code: https://codewith.mu/