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.. _1.3.1_py_pi5:
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:: ../python_pi5/img/1.3.1_motor_list.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
------------------
.. image:: ../python_pi5/img/1.3.1_motor_schematic.png
Experimental Procedures
---------------------------
**Step 1:** Build the circuit.
.. image:: ../python_pi5/img/1.3.1_motor_circuit.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:: ../python_pi5/img/1.3.1_motor_battery.jpeg
**Step 2**: Get into the folder of the code.
.. raw:: html
.. code-block::
cd ~/raphael-kit/python-pi5
**Step 3**: Run.
.. raw:: html
.. code-block::
sudo python3 1.3.1_Motor_zero.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.
.. warning::
If there is an error prompt ``RuntimeError: Cannot determine SOC peripheral base address``, please refer to :ref:`faq_soc`
**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-pi5``. After modifying the code, you can run it directly to see the effect.
.. raw:: html
.. code-block:: python
#!/usr/bin/env python3
from gpiozero import Motor
from time import sleep
# Initialize the Motor with GPIO Zero, specifying GPIO pins for forward (17), backward (27), and enable (22) control
motor = Motor(forward=17, backward=27, enable=22)
try:
# Main function to control the motor's direction and movement.
# Alternates motor rotation between clockwise and counterclockwise with stops in between.
actions = {'CW': motor.forward, 'CCW': motor.backward, 'STOP': motor.stop} # Define motor actions for readability
while True:
# Loop through the defined actions to control motor direction
for action in ['CW', 'STOP', 'CCW', 'STOP']:
actions[action]() # Execute the current action (forward, stop, backward, stop)
print(f"{action}") # Display the current action in the console
sleep(5) # Pause for 5 seconds before proceeding to the next action
except KeyboardInterrupt:
# Gracefully handle a keyboard interrupt (e.g., Ctrl+C) to stop the program
pass
**Code Explanation**
#. These import statements bring in the ``Motor`` class from the ``gpiozero`` library and the ``sleep`` function from the ``time`` module.
.. code-block:: python
#!/usr/bin/env python3
from gpiozero import Motor
from time import sleep
#. This line initializes a ``Motor`` object, specifying the GPIO pins for forward (17), backward (27), and enable (22) control.
.. code-block:: python
# Initialize the Motor with GPIO Zero, specifying GPIO pins for forward (17), backward (27), and enable (22) control
motor = Motor(forward=17, backward=27, enable=22)
#. The actions for motor control are defined in a dictionary for readability. An infinite loop (`while True`) iterates through these actions, executing each for 5 seconds.
.. code-block:: python
try:
# Main function to control the motor's direction and movement.
# Alternates motor rotation between clockwise and counterclockwise with stops in between.
actions = {'CW': motor.forward, 'CCW': motor.backward, 'STOP': motor.stop} # Define motor actions for readability
while True:
# Loop through the defined actions to control motor direction
for action in ['CW', 'STOP', 'CCW', 'STOP']:
actions[action]() # Execute the current action (forward, stop, backward, stop)
print(f"{action}") # Display the current action in the console
sleep(5) # Pause for 5 seconds before proceeding to the next action
#. This segment allows the program to be terminated safely using a keyboard interrupt (Ctrl+C) without causing errors.
.. code-block:: python
except KeyboardInterrupt:
# Gracefully handle a keyboard interrupt (e.g., Ctrl+C) to stop the program
pass