1.3.1_motor_c.rst

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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

You can also buy them separately from the links below.

COMPONENT INTRODUCTION	PURCHASE LINK
cpn_gpio_extension_board
cpn_breadboard
cpn_wires
cpn_power_module	-
cpn_l293d	-
cpn_motor

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/c/1.3.1/

Step 3: Compile.

gcc 1.3.1_Motor.c -lwiringPi

Step 4: Run the executable file above.

sudo ./a.out

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.

Note

If it does not work after running, or there is an error prompt: "wiringPi.h: No such file or directory", please refer to install_wiringpi.

Code

#include <wiringPi.h>
#include <stdio.h>

#define MotorPin1       0
#define MotorPin2       2
#define MotorEnable     3

int main(void){
    int i;
    if(wiringPiSetup() == -1){ //when initialize wiring failed, print messageto screen
        printf("setup wiringPi failed !");
        return 1;
    }

    pinMode(MotorPin1, OUTPUT);
    pinMode(MotorPin2, OUTPUT);
    pinMode(MotorEnable, OUTPUT);
    while(1){
        printf("Clockwise\n");
        digitalWrite(MotorEnable, HIGH);
        digitalWrite(MotorPin1, HIGH);
        digitalWrite(MotorPin2, LOW);
        for(i=0;i<3;i++){
            delay(1000);
        }

        printf("Stop\n");
        digitalWrite(MotorEnable, LOW);
        for(i=0;i<3;i++){
            delay(1000);
        }

        printf("Anti-clockwise\n");
        digitalWrite(MotorEnable, HIGH);
        digitalWrite(MotorPin1, LOW);
        digitalWrite(MotorPin2, HIGH);
        for(i=0;i<3;i++){
            delay(1000);
        }

        printf("Stop\n");
        digitalWrite(MotorEnable, LOW);
        for(i=0;i<3;i++){
            delay(1000);
        }
    }
    return 0;
}

Code Explanation

digitalWrite(MotorEnable, HIGH);

Enable the L239D.

digitalWrite(MotorPin1, HIGH);
digitalWrite(MotorPin2, LOW);

Set a high level for 2A(pin 7); since 1,2EN(pin 1) is in high level, 2Y will output high level.

Set a low level for 1A, then 1Y will output low level, and the motor will rotate.

for(i=0;i<3;i++){
    delay(1000);
}

this loop is to delay for 3*1000ms.

digitalWrite(MotorEnable, LOW)

If 1,2EN (pin1) is in low level, L293D does not work. Motor stops rotating.

digitalWrite(MotorPin1, LOW)
digitalWrite(MotorPin2, HIGH)

Reverse the current flow of the motor, then the motor will rotate reversely.

Phenomenon Picture