Motor Control Libraries

Libraries for controlling DC motors, servomotors, and stepper motors with MicroPython on various microcontroller platforms.

Most libraries out there only support basic movements, but here you will find more advance functionalities such as controlling the speed of the servo or moving the motors with the ability to perform other stuff (async-movement).

• Overview
• DCMotor Library
• Servo Library
• Stepper Library
• Installation
• Usage
• Importing the Libraries
• DCMotor Library
  • Initialization
  • Controlling the Motor
• Servo Library
  • Initialization
  • Moving the Servomotor
  • Synchronous Movement
  • Asynchronous Movement
  • Checking if the Target is Reached
  • Stopping the Servomotor
  • Detaching the Servomotor
• Stepper Library
  • Initialization
  • Single Step
  • Performing Steps
  • Angle-Based Steps
  • Continuous Movement
  • Stop Movement
  • Release Coils
• Examples
  • DCMotor Example
  • Servo Example
  • Stepper Example

Overview

DCMotor Library

The dcmotor library provides a simple interface to control a DC motor using PWM signals, with support for synchronous and asynchronous movement.

Fearures:

• Control motor speed and direction using two PWM pins.
• Fast and slow decay modes.

Servo Library

The servo library offers an easy way to control servomotors, with support for synchronous and asynchronous movement.

Fearures:

• Control servomotor angles with optional speed and asynchronous movement.

Stepper Library

The stepper library allows precise control of stepper motors, with support for synchronous and asynchronous movement.

Features:

• Control stepper motors using digital or PWM pins.
• Support for various stepping methods: SINGLE, DOUBLE, INTERLEAVE, MICROSTEP.
• Ability to perform continuous movements.

Installation

Ensure you have MicroPython installed on your microcontroller. Upload the relevant Python files (dcmotor.py, servo.py, stepper.py) to your microcontroller.

Usage

Importing the Libraries

First, import the required libraries:

from dcmotor import DCMotor
from servo import Servo
from stepper import Stepper

DCMotor Library

Initialization

Create an instance of the DCMotor class by specifying the pins for speed and direction control, the PWM frequency, and the decay mode.

# Initialize the motor with fast decay mode
motor = DCMotor(pina=0, pinb=1, freq=50, fast=True)

Controlling the Motor

Set the motor speed and direction:

motor.speed(-50)  # Set speed (range: -100 to 100)

Stop the motor:

Servo Library

Initialization

Create a Servo object by specifying the pin to which the servomotor is connected. Optional parameters include the start angle, minimum and maximum angles, PWM frequency, and minimum and maximum pulse widths.

servo = Servo(pin=2, start=0)

Moving the Servomotor

Use the move method to move the servomotor to a specific angle. Optionally, you can specify the movement speed and asynchronous mode.

Synchronous Movement

Asynchronous Movement

servo.move(90, speed=30, async_mode=True)

Checking if the Target is Reached

Use the goal_reached method to check if the servomotor has reached the target angle.

if servo.goal_reached():
    print("The servo has reached the target.")

Stopping the Servomotor

Use the stop method to stop the servomotor's movement.

Detaching the Servomotor

Use the detach method to detach the servomotor.

Stepper Library

Initialization

Create a Stepper object by specifying the pins for the coils and, optionally, the number of microsteps.

motor = Stepper(ain1=12, ain2=13, bin1=14, bin2=15)

• ain1, ain2, bin1, bin2: Pin numbers for coil connections
• microsteps: Number of microsteps (optional, default is None for digital outputs)

Single Step

motor.onestep(direction=FORWARD, style=SINGLE)

• direction: Either FORWARD or BACKWARD
• style: One of the stepping methods (SINGLE, DOUBLE, INTERLEAVE, MICROSTEP)

Performing Steps

motor.step(200, direction=FORWARD, style=SINGLE, rpm=60)

• steps: Number of steps to perform
• direction: Either FORWARD or BACKWARD
• style: One of the stepping methods (SINGLE, DOUBLE, INTERLEAVE, MICROSTEP)
• rpm: Revolutions per minute

Angle-Based Steps

motor.angle(90, direction=FORWARD, style=SINGLE, rpm=60)

• angle: Angle in degrees

Continuous Movement

motor.continuous(direction=FORWARD, style=SINGLE, rpm=60)

• direction: Either FORWARD or BACKWARD
• style: One of the stepping methods (SINGLE, DOUBLE, INTERLEAVE, MICROSTEP)
• rpm: Revolutions per minute

Stop Movement

Release Coils

Examples

DCMotor Example

from DCMotor import DCMotor
import time

motor = DCMotor(pina=0, pinb=1, freq=50, fast=True)
motor.speed(100)  # Set speed
time.sleep(5)  # Run for 5 seconds
motor.stop()  # Stop the motor

Servo Example

from servo import Servo
import time

servo = Servo(pin=2, start=0)
servo.move(90, speed=30, async_mode=True)  # 30 degrees per second
time.sleep(5)  # Wait for 5 seconds to let the servo move
servo.stop()

Stepper Example

from Stepper import Stepper
import time

motor = Stepper(ain1=12, ain2=13, bin1=14, bin2=15, microsteps=16)
motor.step(steps=200, direction=FORWARD, style=SINGLE, rpm=60)  # Move 200 steps
time.sleep(5)  # Wait for 5 seconds
motor.stop()  # Stop the motor