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.. _1.3.1_py:
1.3.1 Motor
=============
Introduction
-----------------
In this project, we will learn to how to use L293D to drive a DC motor
and make it rotate clockwise and counterclockwise. Since the DC Motor
needs a larger current, for safety purpose, here we use the Power Supply
Module to supply motors.
Required Components
------------------------------
In this project, we need the following components.
.. image:: ../img/list_1.3.1.png
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
* - Raphael Kit
- 337
- |link_Raphael_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_gpio_extension_board`
- |link_gpio_board_buy|
* - :ref:`cpn_breadboard`
- |link_breadboard_buy|
* - :ref:`cpn_wires`
- |link_wires_buy|
* - :ref:`cpn_power_module`
- \-
* - :ref:`cpn_l293d`
- \-
* - :ref:`cpn_motor`
- |link_motor_buy|
Schematic Diagram
------------------
Plug the power supply module in breadboard, and insert the jumper cap to
pin of 5V, then it will output voltage of 5V. Connect pin 1 of L293D to
GPIO22, and set it as high level. Connect pin2 to GPIO27, and pin7 to
GPIO17, then set one pin high, while the other low. Thus you can change
the motor’s rotation direction.
.. image:: ../img/image336.png
**Experimental Procedures**
**Step 1:** Build the circuit.
.. image:: ../img/image117.png
.. note::
The power module can apply a 9V battery with the 9V Battery
Buckle in the kit. Insert the jumper cap of the power module into the 5V
bus strips of the breadboard.
.. image:: ../img/image118.jpeg
**Step 2**: Get into the folder of the code.
.. raw:: html
.. code-block::
cd ~/raphael-kit/python
**Step 3**: Run.
.. raw:: html
.. code-block::
sudo python3 1.3.1_Motor.py
As the code runs, the motor first rotates clockwise for 5s then stops for 5s,
after that, it rotates anticlockwise for 5s; subsequently, the motor stops
for 5s. This series of actions will be executed repeatedly.
**Code**
.. note::
You can **Modify/Reset/Copy/Run/Stop** the code below. But before that, you need to go to source code path like ``raphael-kit/python``. After modifying the code, you can run it directly to see the effect.
.. raw:: html
.. code-block:: python
import RPi.GPIO as GPIO
import time
# Set up pins
MotorPin1 = 17
MotorPin2 = 27
MotorEnable = 22
def setup():
# Set the GPIO modes to BCM Numbering
GPIO.setmode(GPIO.BCM)
# Set pins to output
GPIO.setup(MotorPin1, GPIO.OUT)
GPIO.setup(MotorPin2, GPIO.OUT)
GPIO.setup(MotorEnable, GPIO.OUT, initial=GPIO.LOW)
# Define a motor function to spin the motor
# direction should be
# 1(clockwise), 0(stop), -1(counterclockwise)
def motor(direction):
# Clockwise
if direction == 1:
# Set direction
GPIO.output(MotorPin1, GPIO.HIGH)
GPIO.output(MotorPin2, GPIO.LOW)
# Enable the motor
GPIO.output(MotorEnable, GPIO.HIGH)
print ("Clockwise")
# Counterclockwise
if direction == -1:
# Set direction
GPIO.output(MotorPin1, GPIO.LOW)
GPIO.output(MotorPin2, GPIO.HIGH)
# Enable the motor
GPIO.output(MotorEnable, GPIO.HIGH)
print ("Counterclockwise")
# Stop
if direction == 0:
# Disable the motor
GPIO.output(MotorEnable, GPIO.LOW)
print ("Stop")
def main():
# Define a dictionary to make the script more readable
# CW as clockwise, CCW as counterclockwise, STOP as stop
directions = {'CW': 1, 'CCW': -1, 'STOP': 0}
while True:
# Clockwise
motor(directions['CW'])
time.sleep(5)
# Stop
motor(directions['STOP'])
time.sleep(5)
# Anticlockwise
motor(directions['CCW'])
time.sleep(5)
# Stop
motor(directions['STOP'])
time.sleep(5)
def destroy():
# Stop the motor
GPIO.output(MotorEnable, GPIO.LOW)
# Release resource
GPIO.cleanup()
# If run this script directly, do:
if __name__ == '__main__':
setup()
try:
main()
# When 'Ctrl+C' is pressed, the program
# destroy() will be executed.
except KeyboardInterrupt:
destroy()
**Code Explanation**
.. code-block:: python
def motor(direction):
# Clockwise
if direction == 1:
# Set direction
GPIO.output(MotorPin1, GPIO.HIGH)
GPIO.output(MotorPin2, GPIO.LOW)
# Enable the motor
GPIO.output(MotorEnable, GPIO.HIGH)
print ("Clockwise")
...
Create a function, ``motor()`` whose variable is direction. As the
condition that direction=1 is met, the motor rotates clockwise; when
direction=-1, the motor rotates anticlockwise; and under the condition
that direction=0, it stops rotating.
.. code-block:: python
def main():
# Define a dictionary to make the script more readable
# CW as clockwise, CCW as counterclockwise, STOP as stop
directions = {'CW': 1, 'CCW': -1, 'STOP': 0}
while True:
# Clockwise
motor(directions['CW'])
time.sleep(5)
# Stop
motor(directions['STOP'])
time.sleep(5)
# Anticlockwise
motor(directions['CCW'])
time.sleep(5)
# Stop
motor(directions['STOP'])
time.sleep(5)
In the main() function, create an array, directions[], in which CW is
equal to 1, the value of CCW is -1, and the number 0 refers to Stop.
As the code runs, the motor first rotates clockwise for 5s then stop for
5s, after that, it rotates anticlockwise for 5s; subsequently, the motor
stops for 5s. This series of actions will be executed repeatedly.
Now, you should see the motor blade rotating.
Phenomenon Picture
------------------
.. image:: ../img/image119.jpeg