Other languages: FRANCAIS
A class and sample code to use the Kitronik Motor driver board for Raspberry Pi Pico. (www.kitronik.co.uk/5331)
This is the MicroPython version. For CircuitPython see here
To use save PicoMotorDriver.py
file onto the Pico so it can be imported
import PicoMotorDriver
board = PicoMotorDriver.KitronikPicoMotor()
This will setup the correct pins to drive the motors.
board.motorOn(motor, direction, speed)
where:
- motor => 1 or 2
- direction => f or r
- speed => 0 to 100
The following example drives the both motors in opposite direction.
import PicoMotorDriver
board = PicoMotorDriver.KitronikPicoMotor()
board.motorOn(1, 'f', 100)
board.motorOn(2, 'r', 50) # turning slower
See also the following example scripts:
- SingleMotorTest.py: Driving one motor at the time (in both direction with speed increase/decrease) script.
- AllMotorTest.py: test various combination of speed for the both motor (like on a 2 wheels robot).
board.motorOff(motor)
where:
- motor => 1 or 2
board.step(direction,steps)
where:
- direction => f or r
- steps => how many steps to make
See also the StepperTest.py example script.
board.stepAngle(direction, angle)
where
- direction => f or r
- angle => how many degrees to move
The stepper code assumes 200 steps per revolution (1.8 degrees per step) and only does full steps.
There are defaulted parameters for
- stepper speeds: default 20mS pause between steps,
- hold position when finished stepping: off - saves energy
- how many steps per rev: 200. Look at the function headers and function comments in PicoMotorDriver.py for more detail if you need to change them.
This code is designed to be used as a module. See: https://kitronik.co.uk/blogs/resources/modules-micro-python-and-the-raspberry-pi-pico for more information