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.. _exp_motor:

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.



----------------------------------------------

**Circuit Diagram**

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

.. image:: img/fzz/1.3.1_sch.png
   :width: 80%
   :align: center


----------------------------------------------

**Wiring Diagram**


.. image:: img/fzz/1.3.1_bb.png
   :width: 80%
   :align: center




----------------------------------------------

**Code**

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


.. raw:: html

   <run></run>

.. code-block:: python

   #!/usr/bin/env python3
   # Import sleep function to pause execution
   from time import sleep
   # Import Motor class from the fusion_hat.motor module
   from fusion_hat.motor import Motor

   # Create a Motor object for motor port 'M0'
   # is_reversed=True means the motor direction is inverted
   motor = Motor('M0', is_reversed=True)

   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

   finally:
      motor.stop()             # Ensure the motor is stopped on exit
      sleep(.1)                # Short delay for safety