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spv moving two motors

Part 5 – Moving two motors

Now that my little demo microPython program moving one N20 motor goes well, I am now upgrading it to move two motors. Now I have a problem of mixing up the getting complicated jumper wires, and therefore find it difficult to do troubleshooting. So I need to do some proper documentation, starting with the photo below.spv2_wiring_2021aug17061024×480 185 KB

Now the time has come to use Pico MicroPython to move two motors. The following program is tested OK.

# Program Name
#   move_two_motors_v05.py - tlfong01 2021aug17hkt1607
# Reference
#   Pi-Top Forum - making-a-rpi-pico-based-smart-vehicle/924
#   https://forum.pi-top.com/t/making-a-rpi-pico-based-smart-vehicle/924
#
# Configuration
#   Acer Intel COIRE i5 PC Chinese Windows 10 (64-bit), Thonny 3.3.3, Python 3.7.9 (32-bit), Tk 8.6.9, USB COM Port #4
#
# Thonny MicroPython Intepreter
#   Micropython (Rapsberry Pi Pico)
# DC Motor
#   N20 1:48 6V DC Gear Motor with quadrature encoder signals A, B
#   
# DC Motor Driver
#   TB6612FNG Dual DC Motor Driver

# Program Function
#   Move Two DC motors forward, backward, and stop

# User Guide
#   (a) Connect PWMA (purple), PWMB (purple) to High (Vcc)
#   (b) Connect Standby (brown) to High (Vcc)
#   (c) Pico GP 10, 11 (Blk, Bwn) to Motor Driver AIN1, AIN2 (Yel, Blu)
#   (d) Pico GP 12, 13 (Red, Orn) to Motor Driver BIN1, BIN2 (Yel, Blu)
#   (c) Run program to move motor forward, backward, and stop

import utime
from machine import Pin

motorDict01 = {
              '1': {'IN1': 10, 'IN2': 11},
              '2': {'IN1': 12, 'IN2': 13},
              '3': {'IN1':  0, 'IN2':  0},
              '4': {'IN1':  0, 'IN2':  0},
              }

motorDictDict = {
                '1': motorDict01,
                '2': motorDict01,                
                }

def setupMotor(motorDictNum, motorNum):
    motorDict = motorDictDict[str(motorDictNum)] 
    motorIn1 = Pin(motorDict[str(motorNum)]['IN1'], Pin.OUT)
    motorIn2 = Pin(motorDict[str(motorNum)]['IN2'], Pin.OUT)    
    motorInList = [motorIn1, motorIn2]   
    return motorInList

def moveMotorForward(motorDictNum, motorNum):
    motorInList = setupMotor(motorDictNum, motorNum)
    motorInList[0].high()
    motorInList[1].low()  
    return motorInList

def moveMotorBackward(motorDictNum, motorNum):
    motorInList = setupMotor(motorDictNum, motorNum)
    motorInList[0].low()
    motorInList[1].high()   
    return motorInList

def moveMotorStop(motorDictNum, motorNum):
    motorInList = setupMotor(motorDictNum, motorNum)
    motorInList[0].low()
    motorInList[1].low()      
    return motorInList

# *** Tests ***

moveMotorForward(motorDictNum = 1, motorNum = 1)
utime.sleep(1)
moveMotorBackward(motorDictNum = 1, motorNum = 1)
utime.sleep(1)
moveMotorStop(motorDictNum = 1, motorNum = 1)

moveMotorForward(motorDictNum = 1, motorNum = 2)
utime.sleep(2)
moveMotorBackward(motorDictNum = 1, motorNum = 2)
utime.sleep(2)
moveMotorStop(motorDictNum = 1, motorNum = 2)

# *** End of program ***

# *** Sample Output - tlfong01  2021jul01hkt1707
'''
'''

/ to continue, …

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