├── .gitattributes ├── .github ├── PULL_REQUEST_TEMPLATE │ └── adafruit_circuitpython_pr.md └── workflows │ ├── build.yml │ ├── failure-help-text.yml │ ├── release_gh.yml │ └── release_pypi.yml ├── .gitignore ├── .pre-commit-config.yaml ├── .readthedocs.yaml ├── CODE_OF_CONDUCT.md ├── LICENSE ├── LICENSES ├── CC-BY-4.0.txt ├── CC-BY-SA-4.0.txt ├── MIT.txt └── Unlicense.txt ├── README.rst ├── README.rst.license ├── adafruit_motorkit.py ├── docs ├── _static │ ├── favicon.ico │ ├── favicon.ico.license │ └── motor_featherwing │ │ ├── m1.jpg │ │ ├── m1.jpg.license │ │ ├── m2.jpg │ │ ├── m2.jpg.license │ │ ├── m3.jpg │ │ ├── m3.jpg.license │ │ ├── m4.jpg │ │ ├── m4.jpg.license │ │ ├── stepper1.jpg │ │ ├── stepper1.jpg.license │ │ ├── stepper2.jpg │ │ └── stepper2.jpg.license ├── api.rst ├── api.rst.license ├── conf.py ├── examples.rst ├── examples.rst.license ├── index.rst ├── index.rst.license └── requirements.txt ├── examples ├── motorkit_dc_motor_simpletest.py ├── motorkit_dc_test.py ├── motorkit_dual_stepper_test.py ├── motorkit_robot.py ├── motorkit_robot_test.py ├── motorkit_stepper_simpletest.py └── motorkit_stepper_test.py ├── optional_requirements.txt ├── pyproject.toml ├── requirements.txt └── ruff.toml /.gitattributes: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | .py text eol=lf 6 | .rst text eol=lf 7 | .txt text eol=lf 8 | .yaml text eol=lf 9 | .toml text eol=lf 10 | .license text eol=lf 11 | .md text eol=lf 12 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE/adafruit_circuitpython_pr.md: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | Thank you for contributing! Before you submit a pull request, please read the following. 6 | 7 | Make sure any changes you're submitting are in line with the CircuitPython Design Guide, available here: https://docs.circuitpython.org/en/latest/docs/design_guide.html 8 | 9 | If your changes are to documentation, please verify that the documentation builds locally by following the steps found here: https://adafru.it/build-docs 10 | 11 | Before submitting the pull request, make sure you've run Pylint and Black locally on your code. You can do this manually or using pre-commit. Instructions are available here: https://adafru.it/check-your-code 12 | 13 | Please remove all of this text before submitting. Include an explanation or list of changes included in your PR, as well as, if applicable, a link to any related issues. 14 | -------------------------------------------------------------------------------- /.github/workflows/build.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: Build CI 6 | 7 | on: [pull_request, push] 8 | 9 | jobs: 10 | test: 11 | runs-on: ubuntu-latest 12 | steps: 13 | - name: Run Build CI workflow 14 | uses: adafruit/workflows-circuitpython-libs/build@main 15 | -------------------------------------------------------------------------------- /.github/workflows/failure-help-text.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Scott Shawcroft for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: Failure help text 6 | 7 | on: 8 | workflow_run: 9 | workflows: ["Build CI"] 10 | types: 11 | - completed 12 | 13 | jobs: 14 | post-help: 15 | runs-on: ubuntu-latest 16 | if: ${{ github.event.workflow_run.conclusion == 'failure' && github.event.workflow_run.event == 'pull_request' }} 17 | steps: 18 | - name: Post comment to help 19 | uses: adafruit/circuitpython-action-library-ci-failed@v1 20 | -------------------------------------------------------------------------------- /.github/workflows/release_gh.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: GitHub Release Actions 6 | 7 | on: 8 | release: 9 | types: [published] 10 | 11 | jobs: 12 | upload-release-assets: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Run GitHub Release CI workflow 16 | uses: adafruit/workflows-circuitpython-libs/release-gh@main 17 | with: 18 | github-token: ${{ secrets.GITHUB_TOKEN }} 19 | upload-url: ${{ github.event.release.upload_url }} 20 | -------------------------------------------------------------------------------- /.github/workflows/release_pypi.yml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | name: PyPI Release Actions 6 | 7 | on: 8 | release: 9 | types: [published] 10 | 11 | jobs: 12 | upload-release-assets: 13 | runs-on: ubuntu-latest 14 | steps: 15 | - name: Run PyPI Release CI workflow 16 | uses: adafruit/workflows-circuitpython-libs/release-pypi@main 17 | with: 18 | pypi-username: ${{ secrets.pypi_username }} 19 | pypi-password: ${{ secrets.pypi_password }} 20 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Kattni Rembor, written for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | # Do not include files and directories created by your personal work environment, such as the IDE 6 | # you use, except for those already listed here. Pull requests including changes to this file will 7 | # not be accepted. 8 | 9 | # This .gitignore file contains rules for files generated by working with CircuitPython libraries, 10 | # including building Sphinx, testing with pip, and creating a virual environment, as well as the 11 | # MacOS and IDE-specific files generated by using MacOS in general, or the PyCharm or VSCode IDEs. 12 | 13 | # If you find that there are files being generated on your machine that should not be included in 14 | # your git commit, you should create a .gitignore_global file on your computer to include the 15 | # files created by your personal setup. To do so, follow the two steps below. 16 | 17 | # First, create a file called .gitignore_global somewhere convenient for you, and add rules for 18 | # the files you want to exclude from git commits. 19 | 20 | # Second, configure Git to use the exclude file for all Git repositories by running the 21 | # following via commandline, replacing "path/to/your/" with the actual path to your newly created 22 | # .gitignore_global file: 23 | # git config --global core.excludesfile path/to/your/.gitignore_global 24 | 25 | # CircuitPython-specific files 26 | *.mpy 27 | 28 | # Python-specific files 29 | __pycache__ 30 | *.pyc 31 | 32 | # Sphinx build-specific files 33 | _build 34 | 35 | # This file results from running `pip -e install .` in a local repository 36 | *.egg-info 37 | 38 | # Virtual environment-specific files 39 | .env 40 | .venv 41 | 42 | # MacOS-specific files 43 | *.DS_Store 44 | 45 | # IDE-specific files 46 | .idea 47 | .vscode 48 | *~ 49 | -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Justin Myers for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | repos: 6 | - repo: https://github.com/pre-commit/pre-commit-hooks 7 | rev: v4.5.0 8 | hooks: 9 | - id: check-yaml 10 | - id: end-of-file-fixer 11 | - id: trailing-whitespace 12 | - repo: https://github.com/astral-sh/ruff-pre-commit 13 | rev: v0.3.4 14 | hooks: 15 | - id: ruff-format 16 | - id: ruff 17 | args: ["--fix"] 18 | - repo: https://github.com/fsfe/reuse-tool 19 | rev: v3.0.1 20 | hooks: 21 | - id: reuse 22 | -------------------------------------------------------------------------------- /.readthedocs.yaml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | # Read the Docs configuration file 6 | # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details 7 | 8 | # Required 9 | version: 2 10 | 11 | sphinx: 12 | configuration: docs/conf.py 13 | 14 | build: 15 | os: ubuntu-20.04 16 | tools: 17 | python: "3" 18 | 19 | python: 20 | install: 21 | - requirements: docs/requirements.txt 22 | - requirements: requirements.txt 23 | -------------------------------------------------------------------------------- /CODE_OF_CONDUCT.md: -------------------------------------------------------------------------------- 1 | 6 | 7 | # Adafruit Community Code of Conduct 8 | 9 | ## Our Pledge 10 | 11 | In the interest of fostering an open and welcoming environment, we as 12 | contributors and leaders pledge to making participation in our project and 13 | our community a harassment-free experience for everyone, regardless of age, body 14 | size, disability, ethnicity, gender identity and expression, level or type of 15 | experience, education, socio-economic status, nationality, personal appearance, 16 | race, religion, or sexual identity and orientation. 17 | 18 | ## Our Standards 19 | 20 | We are committed to providing a friendly, safe and welcoming environment for 21 | all. 22 | 23 | Examples of behavior that contributes to creating a positive environment 24 | include: 25 | 26 | * Be kind and courteous to others 27 | * Using welcoming and inclusive language 28 | * Being respectful of differing viewpoints and experiences 29 | * Collaborating with other community members 30 | * Gracefully accepting constructive criticism 31 | * Focusing on what is best for the community 32 | * Showing empathy towards other community members 33 | 34 | Examples of unacceptable behavior by participants include: 35 | 36 | * The use of sexualized language or imagery and sexual attention or advances 37 | * The use of inappropriate images, including in a community member's avatar 38 | * The use of inappropriate language, including in a community member's nickname 39 | * Any spamming, flaming, baiting or other attention-stealing behavior 40 | * Excessive or unwelcome helping; answering outside the scope of the question 41 | asked 42 | * Trolling, insulting/derogatory comments, and personal or political attacks 43 | * Promoting or spreading disinformation, lies, or conspiracy theories against 44 | a person, group, organisation, project, or community 45 | * Public or private harassment 46 | * Publishing others' private information, such as a physical or electronic 47 | address, without explicit permission 48 | * Other conduct which could reasonably be considered inappropriate 49 | 50 | The goal of the standards and moderation guidelines outlined here is to build 51 | and maintain a respectful community. 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For more information, 20 | please refer to 21 | -------------------------------------------------------------------------------- /README.rst: -------------------------------------------------------------------------------- 1 | Introduction 2 | ============ 3 | 4 | .. image:: https://readthedocs.org/projects/adafruit-circuitpython-motorkit/badge/?version=latest 5 | :target: https://docs.circuitpython.org/projects/motorkit/en/latest/ 6 | :alt: Documentation Status 7 | 8 | .. image:: https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_Bundle/main/badges/adafruit_discord.svg 9 | :target: https://adafru.it/discord 10 | :alt: Discord 11 | 12 | .. image:: https://github.com/adafruit/Adafruit_CircuitPython_MotorKit/workflows/Build%20CI/badge.svg 13 | :target: https://github.com/adafruit/Adafruit_CircuitPython_MotorKit/actions/ 14 | :alt: Build Status 15 | 16 | .. image:: https://img.shields.io/endpoint?url=https://raw.githubusercontent.com/astral-sh/ruff/main/assets/badge/v2.json 17 | :target: https://github.com/astral-sh/ruff 18 | :alt: Code Style: Ruff 19 | 20 | CircuitPython helper library for the DC & Stepper Motor FeatherWing, Shield and Pi Hat kits. 21 | 22 | Dependencies 23 | ============= 24 | This driver depends on: 25 | 26 | * `Adafruit CircuitPython `_ 27 | * `Bus Device `_ 28 | * `Register `_ 29 | * `PCA9685 `_ 30 | * `Motor `_ 31 | 32 | Please ensure all dependencies are available on the CircuitPython filesystem. 33 | This is easily achieved by downloading 34 | `the Adafruit library and driver bundle `_. 35 | 36 | Installing from PyPI 37 | -------------------- 38 | 39 | On supported GNU/Linux systems like the Raspberry Pi, you can install the driver locally `from 40 | PyPI `_. To install for current user: 41 | 42 | .. code-block:: shell 43 | 44 | pip3 install adafruit-circuitpython-motorkit 45 | 46 | To install system-wide (this may be required in some cases): 47 | 48 | .. code-block:: shell 49 | 50 | sudo pip3 install adafruit-circuitpython-motorkit 51 | 52 | To install in a virtual environment in your current project: 53 | 54 | .. code-block:: shell 55 | 56 | mkdir project-name && cd project-name 57 | python3 -m venv .venv 58 | source .venv/bin/activate 59 | pip3 install adafruit-circuitpython-motorkit 60 | 61 | Usage Example 62 | ============= 63 | 64 | DC motor example: 65 | 66 | .. code-block:: python 67 | 68 | import time 69 | from adafruit_motorkit import MotorKit 70 | 71 | kit = MotorKit() 72 | 73 | kit.motor1.throttle = 1.0 74 | time.sleep(0.5) 75 | kit.motor1.throttle = 0 76 | 77 | Stepper motor example: 78 | 79 | .. code-block:: python 80 | 81 | import time 82 | from adafruit_motorkit import MotorKit 83 | 84 | kit = MotorKit() 85 | 86 | for i in range(100): 87 | kit.stepper1.onestep() 88 | 89 | Documentation 90 | ============= 91 | 92 | API documentation for this library can be found on `Read the Docs `_. 93 | 94 | For information on building library documentation, please check out `this guide `_. 95 | 96 | Contributing 97 | ============ 98 | 99 | Contributions are welcome! Please read our `Code of Conduct 100 | `_ 101 | before contributing to help this project stay welcoming. 102 | -------------------------------------------------------------------------------- /README.rst.license: -------------------------------------------------------------------------------- 1 | SPDX-FileCopyrightText: 2017 Scott Shawcroft, written for Adafruit Industries 2 | 3 | SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /adafruit_motorkit.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2017 Scott Shawcroft for Adafruit Industries 2 | # SPDX-FileCopyrightText: 2018 Kattni Rembor for Adafruit Industries 3 | # 4 | # SPDX-License-Identifier: MIT 5 | 6 | """ 7 | `adafruit_motorkit` 8 | ==================================================== 9 | 10 | CircuitPython helper library for DC & Stepper Motor FeatherWing, Shield, and Pi Hat kits. 11 | 12 | * Author(s): Scott Shawcroft, Kattni Rembor 13 | 14 | Implementation Notes 15 | -------------------- 16 | 17 | **Hardware:** 18 | 19 | * `DC Motor + Stepper FeatherWing `_ 20 | * `Adafruit Motor/Stepper/Servo Shield for Arduino v2 Kit `_ 21 | * `Adafruit DC & Stepper Motor HAT for Raspberry Pi - Mini Kit 22 | `_ 23 | 24 | **Software and Dependencies:** 25 | 26 | * Adafruit CircuitPython firmware for the supported boards: 27 | https://github.com/adafruit/circuitpython/releases 28 | 29 | * Adafruit's Bus Device library: https://github.com/adafruit/Adafruit_CircuitPython_BusDevice 30 | * Adafruit's Register library: https://github.com/adafruit/Adafruit_CircuitPython_Register 31 | * Adafruit's PCA9685 library: https://github.com/adafruit/Adafruit_CircuitPython_PCA9685 32 | * Adafruit's Motor library: https://github.com/adafruit/Adafruit_CircuitPython_Motor 33 | 34 | """ 35 | 36 | import board 37 | from adafruit_pca9685 import PCA9685 38 | 39 | try: 40 | from typing import Optional, Tuple 41 | 42 | import adafruit_motor.motor 43 | import adafruit_motor.stepper 44 | from busio import I2C 45 | except ImportError: 46 | pass 47 | 48 | __version__ = "0.0.0+auto.0" 49 | __repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_MotorKit.git" 50 | 51 | 52 | class MotorKit: 53 | """Class representing an Adafruit DC & Stepper Motor FeatherWing, Shield or Pi Hat kit. 54 | 55 | :param int address: I2C address of PCA9685 PWM controller. Default address is ``0x60``. 56 | :param busio.I2C i2c: I2C bus object to use. If not specified, use ``board.I2C()``. 57 | 58 | .. note:: 59 | ``board.I2C()`` uses the default I2C bus frequency of 100 kHz. To speed up 60 | motor control, use an I2C bus frequency of 400 KHz, or if available, 1 MHz. 61 | The PCA9685 controller supports both of these higher speeds. 62 | This will noticeably speed up stepper motor operation when many steps are requested. 63 | 64 | :param int steppers_microsteps: Number of microsteps per step for stepper motors. Default is 16. 65 | :param float pwm_frequency: defaults to 1600 Hz 66 | """ 67 | 68 | def __init__( 69 | self, 70 | address: int = 0x60, 71 | i2c: Optional[I2C] = None, 72 | steppers_microsteps: int = 16, 73 | pwm_frequency: float = 1600.0, 74 | ) -> None: 75 | self._motor1 = None 76 | self._motor2 = None 77 | self._motor3 = None 78 | self._motor4 = None 79 | self._stepper1 = None 80 | self._stepper2 = None 81 | if i2c is None: 82 | i2c = board.I2C() 83 | self._pca = PCA9685(i2c, address=address) 84 | self._pca.frequency = pwm_frequency 85 | self._steppers_microsteps = steppers_microsteps 86 | 87 | # We can save memory usage (~300 bytes) by deduplicating the construction of the objects for 88 | # each motor. This saves both code size and the number of raw strings (the error message) 89 | # stored. The same technique is a net loss for stepper because there is less duplication. 90 | def _motor( 91 | self, motor_name: int, channels: Tuple[int, int, int], stepper_name: int 92 | ) -> adafruit_motor.motor.DCMotor: 93 | from adafruit_motor import motor 94 | 95 | motor_name = "_motor" + str(motor_name) 96 | stepper_name = "_stepper" + str(stepper_name) 97 | if not getattr(self, motor_name): 98 | if getattr(self, stepper_name): 99 | raise RuntimeError( 100 | f"Cannot use {motor_name[1:]} at the same time as {stepper_name[1:]}." 101 | ) 102 | self._pca.channels[channels[0]].duty_cycle = 0xFFFF 103 | setattr( 104 | self, 105 | motor_name, 106 | motor.DCMotor(self._pca.channels[channels[1]], self._pca.channels[channels[2]]), 107 | ) 108 | return getattr(self, motor_name) 109 | 110 | @property 111 | def motor1(self) -> adafruit_motor.motor.DCMotor: 112 | """:py:class:``~adafruit_motor.motor.DCMotor`` controls for motor 1. 113 | 114 | The following image shows the location of the M1 terminal on the DC/Stepper FeatherWing. 115 | The label on the FeatherWing is found on the bottom of the board. 116 | The terminal is labeled on the top of the Shield and Pi Hat. 117 | 118 | .. image :: ../docs/_static/motor_featherwing/m1.jpg 119 | :alt: Motor 1 location 120 | 121 | This example moves the motor forwards for one fifth of a second at full speed. 122 | 123 | .. code-block:: python 124 | 125 | import time 126 | from adafruit_motorkit import motorkit 127 | 128 | kit = MotorKit() 129 | 130 | kit.motor1.throttle = 1.0 131 | time.sleep(0.2) 132 | 133 | kit.motor1.throttle = 0 134 | """ 135 | return self._motor(1, (8, 9, 10), 1) 136 | 137 | @property 138 | def motor2(self) -> adafruit_motor.motor.DCMotor: 139 | """:py:class:``~adafruit_motor.motor.DCMotor`` controls for motor 2. 140 | 141 | The following image shows the location of the M2 terminal on the DC/Stepper FeatherWing. 142 | The label on the FeatherWing is found on the bottom of the board. 143 | The terminal is labeled on the top of the Shield and Pi Hat. 144 | 145 | .. image :: ../docs/_static/motor_featherwing/m2.jpg 146 | :alt: Motor 2 location 147 | 148 | This example moves the motor forwards for one fifth of a second at full speed. 149 | 150 | .. code-block:: python 151 | 152 | import time 153 | from adafruit_motorkit import motorkit 154 | 155 | kit = MotorKit() 156 | 157 | kit.motor2.throttle = 1.0 158 | time.sleep(0.2) 159 | 160 | kit.motor1.throttle = 0 161 | """ 162 | return self._motor(2, (13, 11, 12), 1) 163 | 164 | @property 165 | def motor3(self) -> adafruit_motor.motor.DCMotor: 166 | """:py:class:``~adafruit_motor.motor.DCMotor`` controls for motor 3. 167 | 168 | The following image shows the location of the M2 terminal on the DC/Stepper FeatherWing. 169 | The label on the FeatherWing is found on the bottom of the board. 170 | The terminal is labeled on the top of the Shield and Pi Hat. 171 | 172 | .. image :: ../docs/_static/motor_featherwing/m3.jpg 173 | :alt: Motor 3 location 174 | 175 | This example moves the motor forwards for one fifth of a second at full speed. 176 | 177 | .. code-block:: python 178 | 179 | import time 180 | from adafruit_motorkit import motorkit 181 | 182 | kit = MotorKit() 183 | 184 | kit.motor3.throttle = 1.0 185 | time.sleep(0.2) 186 | 187 | kit.motor1.throttle = 0 188 | """ 189 | return self._motor(3, (2, 3, 4), 2) 190 | 191 | @property 192 | def motor4(self) -> adafruit_motor.motor.DCMotor: 193 | """:py:class:``~adafruit_motor.motor.DCMotor`` controls for motor 4. 194 | 195 | .. image :: ../docs/_static/motor_featherwing/m4.jpg 196 | :alt: Motor 4 location 197 | 198 | This example moves the motor forwards for one fifth of a second at full speed. 199 | 200 | .. code-block:: python 201 | 202 | import time 203 | from adafruit_motorkit import motorkit 204 | 205 | kit = MotorKit() 206 | 207 | kit.motor4.throttle = 1.0 208 | time.sleep(0.2) 209 | 210 | kit.motor1.throttle = 0 211 | """ 212 | return self._motor(4, (7, 5, 6), 2) 213 | 214 | @property 215 | def stepper1(self) -> adafruit_motor.stepper.StepperMotor: 216 | """:py:class:``~adafruit_motor.stepper.StepperMotor`` controls for one connected to stepper 217 | 1 (also labeled motor 1 and motor 2). 218 | 219 | The following image shows the location of the stepper1 terminals on the DC/Stepper 220 | FeatherWing. stepper1 is made up of the M1 and M2 terminals. 221 | The labels on the FeatherWing are found on the bottom of the board. 222 | The terminals are labeled on the top of the Shield and Pi Hat. 223 | 224 | .. image :: ../docs/_static/motor_featherwing/stepper1.jpg 225 | :alt: Stepper 1 location 226 | 227 | This example moves the stepper motor 100 steps forwards. 228 | 229 | .. code-block:: python 230 | 231 | from adafruit_motorkit import MotorKit 232 | 233 | kit = MotorKit() 234 | 235 | for i in range(100): 236 | kit.stepper1.onestep() 237 | """ 238 | if not self._stepper1: 239 | from adafruit_motor import ( 240 | stepper, 241 | ) 242 | 243 | if self._motor1 or self._motor2: 244 | raise RuntimeError("Cannot use stepper1 at the same time as motor1 or motor2.") 245 | self._pca.channels[8].duty_cycle = 0xFFFF 246 | self._pca.channels[13].duty_cycle = 0xFFFF 247 | self._stepper1 = stepper.StepperMotor( 248 | self._pca.channels[10], 249 | self._pca.channels[9], 250 | self._pca.channels[11], 251 | self._pca.channels[12], 252 | microsteps=self._steppers_microsteps, 253 | ) 254 | return self._stepper1 255 | 256 | @property 257 | def stepper2(self) -> adafruit_motor.stepper.StepperMotor: 258 | """:py:class:``~adafruit_motor.stepper.StepperMotor`` controls for one connected to stepper 259 | 2 (also labeled motor 3 and motor 4). 260 | 261 | The following image shows the location of the stepper2 terminals on the DC/Stepper 262 | FeatherWing. stepper2 is made up of the M3 and M4 terminals. 263 | The labels on the FeatherWing are found on the bottom of the board. 264 | The terminals are labeled on the top of the Shield and Pi Hat. 265 | 266 | .. image :: ../docs/_static/motor_featherwing/stepper2.jpg 267 | :alt: Stepper 2 location 268 | 269 | This example moves the stepper motor 100 steps forwards. 270 | 271 | .. code-block:: python 272 | 273 | from adafruit_motorkit import MotorKit 274 | 275 | kit = MotorKit() 276 | 277 | for i in range(100): 278 | kit.stepper2.onestep() 279 | """ 280 | if not self._stepper2: 281 | from adafruit_motor import ( 282 | stepper, 283 | ) 284 | 285 | if self._motor3 or self._motor4: 286 | raise RuntimeError("Cannot use stepper2 at the same time as motor3 or motor4.") 287 | self._pca.channels[7].duty_cycle = 0xFFFF 288 | self._pca.channels[2].duty_cycle = 0xFFFF 289 | self._stepper2 = stepper.StepperMotor( 290 | self._pca.channels[4], 291 | self._pca.channels[3], 292 | self._pca.channels[5], 293 | self._pca.channels[6], 294 | microsteps=self._steppers_microsteps, 295 | ) 296 | return self._stepper2 297 | 298 | @property 299 | def frequency(self) -> float: 300 | """The overall PCA9685 PWM frequency in Hertz.""" 301 | return self._pca.frequency 302 | 303 | @frequency.setter 304 | def frequency(self, pwm_frequency: float = 1600.0) -> None: 305 | self._pca.frequency = pwm_frequency 306 | -------------------------------------------------------------------------------- /docs/_static/favicon.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/adafruit/Adafruit_CircuitPython_MotorKit/42392507ff82cab495ffa29f57973ece69abdf18/docs/_static/favicon.ico -------------------------------------------------------------------------------- /docs/_static/favicon.ico.license: -------------------------------------------------------------------------------- 1 | SPDX-FileCopyrightText: 2018 Phillip Torrone for Adafruit Industries 2 | 3 | SPDX-License-Identifier: CC-BY-4.0 4 | -------------------------------------------------------------------------------- /docs/_static/motor_featherwing/m1.jpg: 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-------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: CC-BY-SA-4.0 4 | -------------------------------------------------------------------------------- /docs/api.rst: -------------------------------------------------------------------------------- 1 | 2 | .. If you created a package, create one automodule per module in the package. 3 | 4 | .. If your library file(s) are nested in a directory (e.g. /adafruit_foo/foo.py) 5 | .. use this format as the module name: "adafruit_foo.foo" 6 | 7 | API Reference 8 | ############# 9 | 10 | .. automodule:: adafruit_motorkit 11 | :members: 12 | -------------------------------------------------------------------------------- /docs/api.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/conf.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | import datetime 6 | import os 7 | import sys 8 | 9 | sys.path.insert(0, os.path.abspath("..")) 10 | 11 | # -- General configuration ------------------------------------------------ 12 | 13 | # Add any Sphinx extension module names here, as strings. They can be 14 | # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom 15 | # ones. 16 | extensions = [ 17 | "sphinx.ext.autodoc", 18 | "sphinxcontrib.jquery", 19 | "sphinx.ext.intersphinx", 20 | "sphinx.ext.napoleon", 21 | "sphinx.ext.todo", 22 | ] 23 | 24 | # TODO: Please Read! 25 | # Uncomment the below if you use native CircuitPython modules such as 26 | # digitalio, micropython and busio. List the modules you use. Without it, the 27 | # autodoc module docs will fail to generate with a warning. 28 | autodoc_mock_imports = ["pwmio"] 29 | 30 | 31 | intersphinx_mapping = { 32 | "python": ("https://docs.python.org/3", None), 33 | "BusDevice": ( 34 | "https://docs.circuitpython.org/projects/busdevice/en/latest/", 35 | None, 36 | ), 37 | "Register": ( 38 | "https://docs.circuitpython.org/projects/register/en/latest/", 39 | None, 40 | ), 41 | "CircuitPython": ("https://docs.circuitpython.org/en/latest/", None), 42 | } 43 | 44 | # Add any paths that contain templates here, relative to this directory. 45 | templates_path = ["_templates"] 46 | 47 | source_suffix = ".rst" 48 | 49 | # The master toctree document. 50 | master_doc = "index" 51 | 52 | # General information about the project. 53 | project = "Adafruit MotorKit Library" 54 | creation_year = "2018" 55 | current_year = str(datetime.datetime.now().year) 56 | year_duration = ( 57 | current_year if current_year == creation_year else creation_year + " - " + current_year 58 | ) 59 | copyright = year_duration + " Kattni Rembor" 60 | author = "Kattni Rembor" 61 | 62 | # The version info for the project you're documenting, acts as replacement for 63 | # |version| and |release|, also used in various other places throughout the 64 | # built documents. 65 | # 66 | # The short X.Y version. 67 | version = "1.0" 68 | # The full version, including alpha/beta/rc tags. 69 | release = "1.0" 70 | 71 | # The language for content autogenerated by Sphinx. Refer to documentation 72 | # for a list of supported languages. 73 | # 74 | # This is also used if you do content translation via gettext catalogs. 75 | # Usually you set "language" from the command line for these cases. 76 | language = "en" 77 | 78 | # List of patterns, relative to source directory, that match files and 79 | # directories to ignore when looking for source files. 80 | # This patterns also effect to html_static_path and html_extra_path 81 | exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", ".env", "CODE_OF_CONDUCT.md"] 82 | 83 | # The reST default role (used for this markup: `text`) to use for all 84 | # documents. 85 | # 86 | default_role = "any" 87 | 88 | # If true, '()' will be appended to :func: etc. cross-reference text. 89 | # 90 | add_function_parentheses = True 91 | 92 | # The name of the Pygments (syntax highlighting) style to use. 93 | pygments_style = "sphinx" 94 | 95 | # If true, `todo` and `todoList` produce output, else they produce nothing. 96 | todo_include_todos = False 97 | 98 | # If this is True, todo emits a warning for each TODO entries. The default is False. 99 | todo_emit_warnings = True 100 | 101 | napoleon_numpy_docstring = False 102 | 103 | # -- Options for HTML output ---------------------------------------------- 104 | 105 | # The theme to use for HTML and HTML Help pages. See the documentation for 106 | # a list of builtin themes. 107 | # 108 | import sphinx_rtd_theme 109 | 110 | html_theme = "sphinx_rtd_theme" 111 | 112 | # Add any paths that contain custom static files (such as style sheets) here, 113 | # relative to this directory. They are copied after the builtin static files, 114 | # so a file named "default.css" will overwrite the builtin "default.css". 115 | html_static_path = ["_static"] 116 | 117 | # The name of an image file (relative to this directory) to use as a favicon of 118 | # the docs. This file should be a Windows icon file (.ico) being 16x16 or 32x32 119 | # pixels large. 120 | # 121 | html_favicon = "_static/favicon.ico" 122 | 123 | # Output file base name for HTML help builder. 124 | htmlhelp_basename = "AdafruitMotorkitLibrarydoc" 125 | 126 | # -- Options for LaTeX output --------------------------------------------- 127 | 128 | latex_elements = { 129 | # The paper size ('letterpaper' or 'a4paper'). 130 | # 131 | # 'papersize': 'letterpaper', 132 | # The font size ('10pt', '11pt' or '12pt'). 133 | # 134 | # 'pointsize': '10pt', 135 | # Additional stuff for the LaTeX preamble. 136 | # 137 | # 'preamble': '', 138 | # Latex figure (float) alignment 139 | # 140 | # 'figure_align': 'htbp', 141 | } 142 | 143 | # Grouping the document tree into LaTeX files. List of tuples 144 | # (source start file, target name, title, 145 | # author, documentclass [howto, manual, or own class]). 146 | latex_documents = [ 147 | ( 148 | master_doc, 149 | "AdafruitMotorKitLibrary.tex", 150 | "AdafruitMotorKit Library Documentation", 151 | author, 152 | "manual", 153 | ), 154 | ] 155 | 156 | # -- Options for manual page output --------------------------------------- 157 | 158 | # One entry per manual page. List of tuples 159 | # (source start file, name, description, authors, manual section). 160 | man_pages = [ 161 | ( 162 | master_doc, 163 | "AdafruitMotorKitlibrary", 164 | "Adafruit MotorKit Library Documentation", 165 | [author], 166 | 1, 167 | ) 168 | ] 169 | 170 | # -- Options for Texinfo output ------------------------------------------- 171 | 172 | # Grouping the document tree into Texinfo files. List of tuples 173 | # (source start file, target name, title, author, 174 | # dir menu entry, description, category) 175 | texinfo_documents = [ 176 | ( 177 | master_doc, 178 | "AdafruitMotorKitLibrary", 179 | "Adafruit MotorKit Library Documentation", 180 | author, 181 | "AdafruitMotorKitLibrary", 182 | "One line description of project.", 183 | "Miscellaneous", 184 | ), 185 | ] 186 | -------------------------------------------------------------------------------- /docs/examples.rst: -------------------------------------------------------------------------------- 1 | Simple test 2 | ------------ 3 | 4 | Ensure your device works with this simple test. 5 | 6 | .. literalinclude:: ../examples/motorkit_dc_motor_simpletest.py 7 | :caption: examples/motorkit_dc_motor_simpletest.py 8 | :linenos: 9 | 10 | .. literalinclude:: ../examples/motorkit_stepper_simpletest.py 11 | :caption: examples/motorkit_stepper_simpletest.py 12 | :linenos: 13 | -------------------------------------------------------------------------------- /docs/examples.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/index.rst: -------------------------------------------------------------------------------- 1 | .. include:: ../README.rst 2 | 3 | Table of Contents 4 | ================= 5 | 6 | .. toctree:: 7 | :maxdepth: 4 8 | :hidden: 9 | 10 | self 11 | 12 | .. toctree:: 13 | :caption: Examples 14 | 15 | examples 16 | 17 | .. toctree:: 18 | :caption: API Reference 19 | :maxdepth: 3 20 | 21 | api 22 | 23 | .. toctree:: 24 | :caption: Tutorials 25 | 26 | Adafruit Stepper + DC Motor FeatherWing 27 | Adafruit Motor Shield V2 for Arduino 28 | Adafruit DC and Stepper Motor HAT for Raspberry Pi 29 | 30 | .. toctree:: 31 | :caption: Related Products 32 | 33 | DC Motor + Stepper FeatherWing 34 | Adafruit Motor/Stepper/Servo Shield for Arduino v2 Kit 35 | Adafruit DC & Stepper Motor HAT for Raspberry Pi - Mini Kit 36 | 37 | .. toctree:: 38 | :caption: Other Links 39 | 40 | Download from GitHub 41 | Download Library Bundle 42 | CircuitPython Reference Documentation 43 | CircuitPython Support Forum 44 | Discord Chat 45 | Adafruit Learning System 46 | Adafruit Blog 47 | Adafruit Store 48 | 49 | Indices and tables 50 | ================== 51 | 52 | * :ref:`genindex` 53 | * :ref:`modindex` 54 | * :ref:`search` 55 | -------------------------------------------------------------------------------- /docs/index.rst.license: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2020 ladyada for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | -------------------------------------------------------------------------------- /docs/requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 Kattni Rembor for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | sphinx 6 | sphinxcontrib-jquery 7 | sphinx-rtd-theme 8 | -------------------------------------------------------------------------------- /examples/motorkit_dc_motor_simpletest.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | """Simple test for using adafruit_motorkit with a DC motor""" 5 | 6 | import time 7 | 8 | import board 9 | 10 | from adafruit_motorkit import MotorKit 11 | 12 | kit = MotorKit(i2c=board.I2C()) 13 | 14 | kit.motor1.throttle = 1.0 15 | time.sleep(0.5) 16 | kit.motor1.throttle = 0 17 | -------------------------------------------------------------------------------- /examples/motorkit_dc_test.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | import time 5 | 6 | import board 7 | 8 | from adafruit_motorkit import MotorKit 9 | 10 | kit = MotorKit(i2c=board.I2C()) 11 | 12 | kit.motor1.throttle = 0 13 | 14 | while True: 15 | print("Forward!") 16 | kit.motor1.throttle = 0.5 17 | time.sleep(1) 18 | 19 | print("Speed up...") 20 | for i in range(0, 101): 21 | speed = i * 0.01 22 | kit.motor1.throttle = speed 23 | time.sleep(0.01) 24 | 25 | print("Slow down...") 26 | for i in range(100, -1, -1): 27 | speed = i * 0.01 28 | kit.motor1.throttle = speed 29 | time.sleep(0.01) 30 | 31 | print("Backward!") 32 | kit.motor1.throttle = -0.5 33 | time.sleep(1) 34 | 35 | print("Speed up...") 36 | for i in range(0, -101, -1): 37 | speed = i * 0.01 38 | kit.motor1.throttle = speed 39 | time.sleep(0.01) 40 | 41 | print("Slow down...") 42 | for i in range(-100, 1): 43 | speed = i * 0.01 44 | kit.motor1.throttle = speed 45 | time.sleep(0.01) 46 | 47 | print("Stop!") 48 | kit.motor1.throttle = 0 49 | time.sleep(1) 50 | -------------------------------------------------------------------------------- /examples/motorkit_dual_stepper_test.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | #!/usr/bin/python 5 | # 6 | # NOTE - Only for use on Raspberry Pi or other SBC. 7 | # 8 | import atexit 9 | import random 10 | import threading 11 | import time 12 | 13 | import board 14 | from adafruit_motor import stepper as STEPPER 15 | 16 | from adafruit_motorkit import MotorKit 17 | 18 | # create a default object, no changes to I2C address or frequency 19 | kit = MotorKit(i2c=board.I2C()) 20 | 21 | # create empty threads (these will hold the stepper 1 and 2 threads) 22 | st1 = threading.Thread() 23 | st2 = threading.Thread() 24 | 25 | 26 | # recommended for auto-disabling motors on shutdown! 27 | def turnOffMotors(): 28 | kit.stepper1.release() 29 | kit.stepper2.release() 30 | 31 | 32 | atexit.register(turnOffMotors) 33 | 34 | stepstyles = [STEPPER.SINGLE, STEPPER.DOUBLE, STEPPER.INTERLEAVE, STEPPER.MICROSTEP] 35 | 36 | 37 | def stepper_worker(stepper, numsteps, direction, style): 38 | # print("Steppin!") 39 | for _ in range(numsteps): 40 | stepper.onestep(direction=direction, style=style) 41 | # print("Done") 42 | 43 | 44 | while True: 45 | if not st1.is_alive(): 46 | randomdir = random.randint(0, 1) 47 | print("Stepper 1") 48 | if randomdir == 0: 49 | move_dir = STEPPER.FORWARD 50 | print("forward") 51 | else: 52 | move_dir = STEPPER.BACKWARD 53 | print("backward") 54 | randomsteps = random.randint(10, 50) 55 | print("%d steps" % randomsteps) 56 | st1 = threading.Thread( 57 | target=stepper_worker, 58 | args=( 59 | kit.stepper1, 60 | randomsteps, 61 | move_dir, 62 | stepstyles[random.randint(0, 3)], 63 | ), 64 | ) 65 | st1.start() 66 | 67 | if not st2.is_alive(): 68 | print("Stepper 2") 69 | randomdir = random.randint(0, 1) 70 | if randomdir == 0: 71 | move_dir = STEPPER.FORWARD 72 | print("forward") 73 | else: 74 | move_dir = STEPPER.BACKWARD 75 | print("backward") 76 | randomsteps = random.randint(10, 50) 77 | print("%d steps" % randomsteps) 78 | st2 = threading.Thread( 79 | target=stepper_worker, 80 | args=( 81 | kit.stepper2, 82 | randomsteps, 83 | move_dir, 84 | stepstyles[random.randint(0, 3)], 85 | ), 86 | ) 87 | st2.start() 88 | 89 | time.sleep(0.1) # Small delay to stop from constantly polling threads 90 | # see: https://forums.adafruit.com/viewtopic.php?f=50&t=104354&p=562733#p562733 91 | -------------------------------------------------------------------------------- /examples/motorkit_robot.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | # 5 | # NOTE - Only for use on Raspberry Pi or other SBC. 6 | # 7 | 8 | # Simple two DC motor robot class. Exposes a simple LOGO turtle-like API for 9 | # moving a robot forward, backward, and turning. See RobotTest.py for an 10 | # example of using this class. 11 | # Author2: Tony DiCola, Chris Anderson 12 | # License: MIT License https://opensource.org/licenses/MIT 13 | 14 | 15 | # This assumes the Left motor is on Motor 1 and the Right motor is on Motor 2 16 | 17 | 18 | import atexit 19 | import time 20 | 21 | import board 22 | 23 | from adafruit_motorkit import MotorKit 24 | 25 | kit = MotorKit(i2c=board.I2C()) 26 | 27 | 28 | class Robot: 29 | def __init__(self, left_trim=0, right_trim=0, stop_at_exit=True): 30 | """Create an instance of the robot. Can specify the following optional 31 | parameter 32 | - left_trim: Amount to offset the speed of the left motor, can be positive 33 | or negative and use useful for matching the speed of both 34 | motors. Default is 0. 35 | - right_trim: Amount to offset the speed of the right motor (see above). 36 | - stop_at_exit: Boolean to indicate if the motors should stop on program 37 | exit. Default is True (highly recommended to keep this 38 | value to prevent damage to the bot on program crash!). 39 | """ 40 | 41 | self._left_trim = left_trim 42 | self._right_trim = right_trim 43 | if stop_at_exit: 44 | atexit.register(self.stop) 45 | 46 | def _left_speed(self, speed): 47 | """Set the speed of the left motor, taking into account its trim offset.""" 48 | assert -1 <= speed <= 1, "Speed must be a value between -1 to 1 inclusive!" 49 | speed += self._left_trim 50 | speed = max(-1, min(1, speed)) # Constrain speed to 0-255 after trimming. 51 | kit.motor1.throttle = speed 52 | 53 | def _right_speed(self, speed): 54 | """Set the speed of the right motor, taking into account its trim offset.""" 55 | assert -1 <= speed <= 1, "Speed must be a value between -1 to 1 inclusive!" 56 | speed += self._right_trim 57 | speed = max(-1, min(1, speed)) # Constrain speed to 0-255 after trimming. 58 | kit.motor2.throttle = speed 59 | 60 | @staticmethod 61 | def stop(): 62 | """Stop all movement.""" 63 | kit.motor1.throttle = 0 64 | kit.motor2.throttle = 0 65 | 66 | def forward(self, speed, seconds=None): 67 | """Move forward at the specified speed (0-255). Will start moving 68 | forward and return unless a seconds value is specified, in which 69 | case the robot will move forward for that amount of time and then stop. 70 | """ 71 | # Set motor speed and move both forward. 72 | self._left_speed(speed) 73 | self._right_speed(speed) 74 | # If an amount of time is specified, move for that time and then stop. 75 | if seconds is not None: 76 | time.sleep(seconds) 77 | self.stop() 78 | 79 | def steer(self, speed, direction): 80 | # Move forward at the specified speed (0- 1). Direction is +- 1. 81 | # Full left is -1, Full right is +1 82 | if (speed + direction / 2) > 1: 83 | speed = speed - direction / 2 # calibrate so total motor output never goes above 1 84 | left = speed + direction / 2 85 | right = speed - direction / 2 86 | self._left_speed(left) 87 | self._right_speed(right) 88 | 89 | def backward(self, speed, seconds=None): 90 | """Move backward at the specified speed (0-255). Will start moving 91 | backward and return unless a seconds value is specified, in which 92 | case the robot will move backward for that amount of time and then stop. 93 | """ 94 | # Set motor speed and move both backward. 95 | self._left_speed(-1 * speed) 96 | self._right_speed(-1 * speed) 97 | # If an amount of time is specified, move for that time and then stop. 98 | if seconds is not None: 99 | time.sleep(seconds) 100 | self.stop() 101 | 102 | def right(self, speed, seconds=None): 103 | """Spin to the right at the specified speed. Will start spinning and 104 | return unless a seconds value is specified, in which case the robot will 105 | spin for that amount of time and then stop. 106 | """ 107 | # Set motor speed and move both forward. 108 | self._left_speed(speed) 109 | self._right_speed(0) 110 | # If an amount of time is specified, move for that time and then stop. 111 | if seconds is not None: 112 | time.sleep(seconds) 113 | self.stop() 114 | 115 | def left(self, speed, seconds=None): 116 | """Spin to the left at the specified speed. Will start spinning and 117 | return unless a seconds value is specified, in which case the robot will 118 | spin for that amount of time and then stop. 119 | """ 120 | # Set motor speed and move both forward. 121 | self._left_speed(0) 122 | self._right_speed(speed) 123 | # If an amount of time is specified, move for that time and then stop. 124 | if seconds is not None: 125 | time.sleep(seconds) 126 | self.stop() 127 | -------------------------------------------------------------------------------- /examples/motorkit_robot_test.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | # Simple two DC motor robot class usage example. 5 | # Author: Tony DiCola, Chris Anderron 6 | # License: MIT License https://opensource.org/licenses/MIT 7 | import time 8 | 9 | # Import the motorkit_robot.py file (must be in the same directory as this file!). 10 | import motorkit_robot 11 | 12 | # Set the trim offset for each motor (left and right). This is a value that 13 | # will offset the speed of movement of each motor in order to make them both 14 | # move at the same desired speed. Because there's no feedback the robot doesn't 15 | # know how fast each motor is spinning and the robot can pull to a side if one 16 | # motor spins faster than the other motor. To determine the trim values move the 17 | # robot forward slowly (around 100 speed) and watch if it veers to the left or 18 | # right. If it veers left then the _right_ motor is spinning faster so try 19 | # setting RIGHT_TRIM to a small negative value, like -0.05, to slow down the right 20 | # motor. Likewise if it veers right then adjust the _left_ motor trim to a small 21 | # negative value. Increase or decrease the trim value until the bot moves 22 | # straight forward/backward. 23 | LEFT_TRIM = 0 24 | RIGHT_TRIM = 0 25 | 26 | 27 | # Create an instance of the robot with the specified trim values. 28 | 29 | robot = motorkit_robot.Robot(left_trim=LEFT_TRIM, right_trim=RIGHT_TRIM) 30 | 31 | # Now move the robot around! 32 | # Each call below takes two parameters: 33 | # - speed: The speed of the movement, a value from -1.0 to +1.0. The higher the value 34 | # the faster the movement. You need to start with a value around 0.10 35 | # to get enough torque to move the robot. 36 | # - time (seconds): Amount of time to perform the movement. After moving for 37 | # this amount of seconds the robot will stop. This parameter 38 | # is optional and if not specified the robot will start moving 39 | # forever. 40 | 41 | robot.left(0.5, 1) 42 | robot.right(0.5, 1) 43 | robot.steer(0.5, 0.2) 44 | time.sleep(3) 45 | robot.stop() # Stop the robot from moving. 46 | 47 | 48 | # That's it! Note that on exit the robot will automatically stop moving. 49 | -------------------------------------------------------------------------------- /examples/motorkit_stepper_simpletest.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | """Simple test for using adafruit_motorkit with a stepper motor""" 5 | 6 | import time 7 | 8 | import board 9 | 10 | from adafruit_motorkit import MotorKit 11 | 12 | kit = MotorKit(i2c=board.I2C()) 13 | 14 | for i in range(100): 15 | kit.stepper1.onestep() 16 | time.sleep(0.01) 17 | -------------------------------------------------------------------------------- /examples/motorkit_stepper_test.py: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2021 ladyada for Adafruit Industries 2 | # SPDX-License-Identifier: MIT 3 | 4 | import board 5 | from adafruit_motor import stepper 6 | 7 | from adafruit_motorkit import MotorKit 8 | 9 | kit = MotorKit(i2c=board.I2C()) 10 | 11 | kit.stepper1.release() 12 | 13 | while True: 14 | print("Single coil steps") 15 | for i in range(100): 16 | kit.stepper1.onestep(direction=stepper.FORWARD, style=stepper.SINGLE) 17 | for i in range(100): 18 | kit.stepper1.onestep(direction=stepper.BACKWARD, style=stepper.SINGLE) 19 | 20 | print("Double coil steps") 21 | for i in range(100): 22 | kit.stepper1.onestep(direction=stepper.FORWARD, style=stepper.DOUBLE) 23 | for i in range(100): 24 | kit.stepper1.onestep(direction=stepper.BACKWARD, style=stepper.DOUBLE) 25 | 26 | print("Interleaved coil steps") 27 | for i in range(100): 28 | kit.stepper1.onestep(direction=stepper.FORWARD, style=stepper.INTERLEAVE) 29 | for i in range(100): 30 | kit.stepper1.onestep(direction=stepper.BACKWARD, style=stepper.INTERLEAVE) 31 | 32 | print("Microsteps") 33 | for i in range(100): 34 | kit.stepper1.onestep(direction=stepper.FORWARD, style=stepper.MICROSTEP) 35 | for i in range(100): 36 | kit.stepper1.onestep(direction=stepper.BACKWARD, style=stepper.MICROSTEP) 37 | -------------------------------------------------------------------------------- /optional_requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | -------------------------------------------------------------------------------- /pyproject.toml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | [build-system] 6 | requires = [ 7 | "setuptools", 8 | "wheel", 9 | "setuptools-scm", 10 | ] 11 | 12 | [project] 13 | name = "adafruit-circuitpython-motorkit" 14 | description = "CircuitPython helper library for DC & Stepper Motor FeatherWing, Shield, and Pi Hat kits." 15 | version = "0.0.0+auto.0" 16 | readme = "README.rst" 17 | authors = [ 18 | {name = "Adafruit Industries", email = "circuitpython@adafruit.com"} 19 | ] 20 | urls = {Homepage = "https://github.com/adafruit/Adafruit_CircuitPython_MotorKit"} 21 | keywords = [ 22 | "adafruit", 23 | "motor", 24 | "pca9685", 25 | "featherwing", 26 | "pi", 27 | "shield", 28 | "motorkit", 29 | "kit", 30 | "i2c", 31 | "hardware", 32 | "micropython", 33 | "circuitpython", 34 | ] 35 | license = {text = "MIT"} 36 | classifiers = [ 37 | "Intended Audience :: Developers", 38 | "Topic :: Software Development :: Libraries", 39 | "Topic :: Software Development :: Embedded Systems", 40 | "Topic :: System :: Hardware", 41 | "License :: OSI Approved :: MIT License", 42 | "Programming Language :: Python :: 3", 43 | ] 44 | dynamic = ["dependencies", "optional-dependencies"] 45 | 46 | [tool.setuptools] 47 | py-modules = ["adafruit_motorkit"] 48 | 49 | [tool.setuptools.dynamic] 50 | dependencies = {file = ["requirements.txt"]} 51 | optional-dependencies = {optional = {file = ["optional_requirements.txt"]}} 52 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2022 Alec Delaney, for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: Unlicense 4 | 5 | Adafruit-Blinka 6 | adafruit-circuitpython-busdevice 7 | adafruit-circuitpython-pca9685 8 | adafruit-circuitpython-motor 9 | adafruit-circuitpython-register 10 | -------------------------------------------------------------------------------- /ruff.toml: -------------------------------------------------------------------------------- 1 | # SPDX-FileCopyrightText: 2024 Tim Cocks for Adafruit Industries 2 | # 3 | # SPDX-License-Identifier: MIT 4 | 5 | target-version = "py38" 6 | line-length = 100 7 | 8 | [lint] 9 | preview = true 10 | select = ["I", "PL", "UP"] 11 | 12 | extend-select = [ 13 | "D419", # empty-docstring 14 | "E501", # line-too-long 15 | "W291", # trailing-whitespace 16 | "PLC0414", # useless-import-alias 17 | "PLC2401", # non-ascii-name 18 | "PLC2801", # unnecessary-dunder-call 19 | "PLC3002", # unnecessary-direct-lambda-call 20 | "E999", # syntax-error 21 | "PLE0101", # return-in-init 22 | "F706", # return-outside-function 23 | "F704", # yield-outside-function 24 | "PLE0116", # continue-in-finally 25 | "PLE0117", # nonlocal-without-binding 26 | "PLE0241", # duplicate-bases 27 | "PLE0302", # unexpected-special-method-signature 28 | "PLE0604", # invalid-all-object 29 | "PLE0605", # invalid-all-format 30 | "PLE0643", # potential-index-error 31 | "PLE0704", # misplaced-bare-raise 32 | "PLE1141", # dict-iter-missing-items 33 | "PLE1142", # await-outside-async 34 | "PLE1205", # logging-too-many-args 35 | "PLE1206", # logging-too-few-args 36 | "PLE1307", # bad-string-format-type 37 | "PLE1310", # bad-str-strip-call 38 | "PLE1507", # invalid-envvar-value 39 | "PLE2502", # bidirectional-unicode 40 | "PLE2510", # invalid-character-backspace 41 | "PLE2512", # invalid-character-sub 42 | "PLE2513", # invalid-character-esc 43 | "PLE2514", # invalid-character-nul 44 | "PLE2515", # invalid-character-zero-width-space 45 | "PLR0124", # comparison-with-itself 46 | "PLR0202", # no-classmethod-decorator 47 | "PLR0203", # no-staticmethod-decorator 48 | "UP004", # useless-object-inheritance 49 | "PLR0206", # property-with-parameters 50 | "PLR0904", # too-many-public-methods 51 | "PLR0911", # too-many-return-statements 52 | "PLR0912", # too-many-branches 53 | "PLR0913", # too-many-arguments 54 | "PLR0914", # too-many-locals 55 | "PLR0915", # too-many-statements 56 | "PLR0916", # too-many-boolean-expressions 57 | "PLR1702", # too-many-nested-blocks 58 | "PLR1704", # redefined-argument-from-local 59 | "PLR1711", # useless-return 60 | "C416", # unnecessary-comprehension 61 | "PLR1733", # unnecessary-dict-index-lookup 62 | "PLR1736", # unnecessary-list-index-lookup 63 | 64 | # ruff reports this rule is unstable 65 | #"PLR6301", # no-self-use 66 | 67 | "PLW0108", # unnecessary-lambda 68 | "PLW0120", # useless-else-on-loop 69 | "PLW0127", # self-assigning-variable 70 | "PLW0129", # assert-on-string-literal 71 | "B033", # duplicate-value 72 | "PLW0131", # named-expr-without-context 73 | "PLW0245", # super-without-brackets 74 | "PLW0406", # import-self 75 | "PLW0602", # global-variable-not-assigned 76 | "PLW0603", # global-statement 77 | "PLW0604", # global-at-module-level 78 | 79 | # fails on the try: import typing used by libraries 80 | #"F401", # unused-import 81 | 82 | "F841", # unused-variable 83 | "E722", # bare-except 84 | "PLW0711", # binary-op-exception 85 | "PLW1501", # bad-open-mode 86 | "PLW1508", # invalid-envvar-default 87 | "PLW1509", # subprocess-popen-preexec-fn 88 | "PLW2101", # useless-with-lock 89 | "PLW3301", # nested-min-max 90 | ] 91 | 92 | ignore = [ 93 | "PLR2004", # magic-value-comparison 94 | "UP030", # format literals 95 | "PLW1514", # unspecified-encoding 96 | "PLR0913", # too-many-arguments 97 | "PLR0915", # too-many-statements 98 | "PLR0917", # too-many-positional-arguments 99 | "PLR0904", # too-many-public-methods 100 | "PLR0912", # too-many-branches 101 | "PLR0916", # too-many-boolean-expressions 102 | "PLR6301", # could-be-static no-self-use 103 | "PLC0415", # import outside toplevel 104 | "PLC2701", # private import 105 | ] 106 | 107 | [format] 108 | line-ending = "lf" 109 | --------------------------------------------------------------------------------