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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



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

   <run></run>

.. code-block::

    cd ~/davinci-kit-for-raspberry-pi/python-pi5

**Step 3**: Run.

.. raw:: html

   <run></run>

.. 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.  

.. 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 ``davinci-kit-for-raspberry-pi/python-pi5``. After modifying the code, you can run it directly to see the effect.


.. raw:: html

    <run></run>

.. 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