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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¶

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-pi5

Step 3: Run.

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.

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.

#!/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.
```
#!/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.

# 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.

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.
```
except KeyboardInterrupt:
# Gracefully handle a keyboard interrupt (e.g., Ctrl+C) to stop the program
pass
```