.. note:: Hello, welcome to the SunFounder Raspberry Pi & Arduino & ESP32 Enthusiasts Community on Facebook! Dive deeper into Raspberry Pi, Arduino, and ESP32 with fellow enthusiasts. **Why Join?** - **Expert Support**: Solve post-sale issues and technical challenges with help from our community and team. - **Learn & Share**: Exchange tips and tutorials to enhance your skills. - **Exclusive Previews**: Get early access to new product announcements and sneak peeks. - **Special Discounts**: Enjoy exclusive discounts on our newest products. - **Festive Promotions and Giveaways**: Take part in giveaways and holiday promotions. 👉 Ready to explore and create with us? Click [|link_sf_facebook|] and join today! .. _py_motor: 4.1 Small Fan ======================= In this engaging project, we'll explore how to drive a motor using the L293D. The L293D is a versatile integrated circuit (IC) commonly used for motor control in electronics and robotics projects. It can drive two motors in both forward and reverse directions, making it a popular choice for applications requiring precise motor control. By the end of this captivating project, you will have gained a thorough understanding of how digital signals and PWM signals can effectively be utilized to control motors. This invaluable knowledge will prove to be a solid foundation for your future endeavors in robotics and mechatronics. Buckle up and get ready to dive into the exciting world of motor control with the L293D! **Required Components** In this project, we need the following components. It's definitely convenient to buy a whole kit, here's the link: .. list-table:: :widths: 20 20 20 :header-rows: 1 * - Name - ITEMS IN THIS KIT - LINK * - ESP32 Starter Kit - 320+ - |link_esp32_starter_kit| You can also buy them separately from the links below. .. list-table:: :widths: 30 20 :header-rows: 1 * - COMPONENT INTRODUCTION - PURCHASE LINK * - :ref:`cpn_esp32_wroom_32e` - |link_esp32_wroom_32e_buy| * - :ref:`cpn_esp32_camera_extension` - |link_esp32_extension_board| * - :ref:`cpn_breadboard` - |link_breadboard_buy| * - :ref:`cpn_wires` - |link_wires_buy| * - :ref:`cpn_motor` - |link_motor_buy| * - :ref:`cpn_l293d` - \- **Available Pins** Here is a list of available pins on the ESP32 board for this project. .. list-table:: :widths: 5 20 * - Available Pins - IO13, IO12, IO14, IO27, IO26, IO25, IO33, IO32, IO15, IO2, IO0, IO4, IO5, IO18, IO19, IO21, IO22, IO23 **Schematic** .. image:: ../../img/circuit/circuit_4.1_motor_l293d.png **Wiring** .. note:: Since the motor requires a relatively high current, it is necessary to first insert the battery and then slide the switch on the expansion board to the ON position to activate the battery supply. .. image:: ../../img/wiring/4.1_motor_l293d_bb.png **Code** .. note:: * Open the ``4.1_motor_turn.py`` file located in the ``esp32-starter-kit-main\micropython\codes`` path, or copy and paste the code into Thonny. Then, click "Run Current Script" or press F5 to execute it. * Make sure to select the "MicroPython (ESP32).COMxx" interpreter in the bottom right corner. .. code-block:: python import machine import time # Create Pin objects representing the motor control pins and set them to output mode motor1A = machine.Pin(13, machine.Pin.OUT) motor2A = machine.Pin(14, machine.Pin.OUT) # Define a function to rotate the motor clockwise def clockwise(): motor1A.value(1) motor2A.value(0) # Define a function to rotate the motor anticlockwise def anticlockwise(): motor1A.value(0) motor2A.value(1) # Define a function to stop the motor def stop(): motor1A.value(0) motor2A.value(0) # Enter an infinite loop try: while True: clockwise() # Rotate the motor clockwise time.sleep(1) # Pause for 1 second anticlockwise() # Rotate the motor anticlockwise time.sleep(1) stop() # Stop the motor time.sleep(2) except KeyboardInterrupt: stop() # Stop the motor when KeyboardInterrupt is caught During script execution, you will see the motor alternately rotating clockwise and counterclockwise every second. **Learn More** In addition to simply making the motor rotate clockwise and counterclockwise, you can also control the speed of the motor's rotation by using pulse-width modulation (PWM) on the control pin, as shown below. .. note:: * Open the ``4.1_motor_turn_pwm.py`` file located in the ``esp32-starter-kit-main\micropython\codes`` path, or copy and paste the code into Thonny. Then, click "Run Current Script" or press F5 to execute it. * Make sure to select the "MicroPython (ESP32).COMxx" interpreter in the bottom right corner. .. code-block:: python from machine import Pin, PWM import time # Create PWM objects representing the motor control pins and set their frequency to 1000 Hz motor1A = PWM(Pin(13, Pin.OUT)) motor2A = PWM(Pin(14, Pin.OUT)) motor1A.freq(500) motor2A.freq(500) # Enter an infinite loop while True: # Rotate the motor forward by gradually increasing the power on the motor1A pin for power in range(0, 1023, 20): motor1A.duty(power) motor2A.duty(0) time.sleep(0.1) # Decreasing the power on the motor1A pin for power in range(1023, 0, -20): motor1A.duty(power) motor2A.duty(0) time.sleep(0.1) # Rotate the motor in the opposite direction by gradually increasing the power on the motor2A pin for power in range(0, 1023, 20): motor1A.duty(0) motor2A.duty(power) time.sleep(0.1) # Decreasing the power on the motor2A pin for power in range(1023, 0, -20): motor1A.duty(0) motor2A.duty(power) time.sleep(0.1) Unlike the previous script, here the motor is controlled by PWM signals with a frequency of 1000 Hz, which determines the speed of the motor. * The code uses a ``while True`` loop to run continuously. Inside the loop, there are four ``for`` loops that control the motors in a sequence. * The first two ``for`` loops increase and decrease the speed of IN1 while keeping IN2 at 0 speed. * The next two ``for`` loops increase and decrease the speed of IN2 while keeping IN1 at 0 speed. * The ``range`` function in each ``for`` loop produces a string of numbers that serves as the duty cycle of the PWM signal. This is then output to IN1 or IN2 via the ``duty`` method. The duty cycle determines the percentage of time that the PWM signal is high, which in turn determines the average voltage applied to the motor, and thus the motor speed. * The ``time.sleep`` function is used to introduce a delay of 0.1 seconds between each step in the sequence, which allows the motor to change speed gradually, rather than jumping from one speed to another instantaneously.