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 [here] and join today!

1.6 Motor

Introduction

In this project, we will learn how to use the Fusion HAT+ to control a DC motor, making it rotate clockwise and counterclockwise.

---

What You’ll Need

To complete this project, you will need the following components:

COMPONENT	PURCHASE LINK
DC Motor	BUY
Fusion HAT+	-
Raspberry Pi	-

---

Circuit Diagram

The circuit diagram below shows the connections required to control the motor.

---

Wiring Diagram

---

Running the Example

All example code used in this tutorial is available in the ai-lab-kit directory. Follow these steps to run the example:

cd ~/ai-lab-kit/python/
sudo python3 1.6_Motor.py

After running the script, the motor connected to port M0 repeatedly starts and stops in a loop. It first stops for 0.5 seconds, then runs at −50% power for 1 second, stops again for 0.5 seconds, and finally runs at 75% power for 1 second. This sequence repeats continuously. When the program exits, the motor is safely stopped.

---

Code

The following Python code controls the motor’s rotation direction and timing:

#!/usr/bin/env python3
from time import sleep
from fusion_hat.motor import Motor

# Motor on port M0, reverse direction if needed
motor = Motor("M0", is_reversed=True)

try:
   while True:
      motor.power(0)
      sleep(0.5)

      motor.power(-50)
      sleep(1)

      motor.power(0)
      sleep(0.5)

      motor.power(75)
      sleep(1)

except KeyboardInterrupt:
   # Ctrl + C to stop
   print("\nStopped by user.")

finally:
   # Always stop the motor safely
   motor.stop()
   sleep(0.1)

---

Understanding the Code

1. Library Import

   The fusion_hat library simplifies GPIO interactions, while the time library provides delay functions.

   from time import sleep
   from fusion_hat.motor import Motor
   

2. Motor Initialization

   The Motor object is created using M0 pins.

   motor = Motor('M0', is_reversed=True)
   

3. Motor Actions

   The motor speed is set to 0, -50, and 75, respectively. The sleep function pauses the program for a specified duration.

   try:
      # Loop forever
      while True:
         motor.power(0)       # Stop the motor
         sleep(0.5)           # Wait 0.5 seconds
   
         motor.power(-50)     # Run the motor at -50% power
         sleep(1)             # Run for 1 second
   
         motor.power(0)       # Stop again
         sleep(0.5)           # Wait 0.5 seconds
   
         motor.power(75)      # Run the motor at 75% power
         sleep(1)             # Run for 1 second
   

---

Troubleshooting

1. Motor Does Not Move

   • Cause: Incorrect wiring or GPIO pin configuration.

   • Solution: Ensure the motor is receiving power and the enable pin is connected properly.

2. Only One Direction Works

   • Cause: Faulty connection to the forward or backward pin.

   • Solution: Ensure the pins are securely connected to the Fusion HAT+.

3. Motor Spins Continuously Without Stopping

   • Cause: The stop() function may not be executed properly.

   • Solution: Confirm that the motor.stop() method is called.

---

Extendable Ideas

1. User-Controlled Actions

   Allow the user to control the motor in real-time via keyboard input:

   while True:
      num = int(input("The speed percentage (-100~100): "))
      if num >= -100 and num <= 100:
         motor.speed(num)
      else:
         print("Invalid action!")
   

3. Timed Motor Control

   Add functionality to run the motor for a user-specified duration:

   duration = int(input("Enter duration (seconds): "))
   motor.speed(50)
   sleep(duration)
   motor.stop()
   

---

Conclusion

This project demonstrates how to control a DC motor using the Fusion HAT+. Understanding motor control is essential for building robotics and other motion-based electronic projects.