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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.

It’s definitely convenient to buy a whole kit, here’s the link:

Name	ITEMS IN THIS KIT	LINK
Raphael Kit	337	Raphael Kit

You can also buy them separately from the links below.

COMPONENT INTRODUCTION	PURCHASE LINK
GPIO Extension Board	BUY
Breadboard	BUY
Jumper Wires	BUY
Power Supply Module	-
L293D	-
DC 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.

Experimental Procedures

Step 1: Build the circuit.

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.

Step 2: Get into the folder of the code.

cd ~/raphael-kit/python

Step 3: Run.

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.

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

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.

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.

1.3.1 Motor

Introduction

Required Components

Schematic Diagram

Phenomenon Picture