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Software/Python/grove_i2c_motor_driver/grove_i2c_motor_driver.py Normal file
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#!/usr/bin/env python
#
# GrovePi Library for using the Grove - I2C Motor Driver(http://www.seeedstudio.com/depot/Grove-I2C-Motor-Driver-p-907.html)
#
# The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi
#
# Have a question about this library? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi
#
# Released under the MIT license (http://choosealicense.com/licenses/mit/).
# For more information see https://github.com/DexterInd/GrovePi/blob/master/LICENSE
import time,sys
import RPi.GPIO as GPIO
import smbus
# use the bus that matches your raspi version
rev = GPIO.RPI_REVISION
if rev == 2 or rev == 3:
bus = smbus.SMBus(1)
else:
bus = smbus.SMBus(0)
class motor_driver:
MotorSpeedSet = 0x82
PWMFrequenceSet = 0x84
DirectionSet = 0xaa
MotorSetA = 0xa1
MotorSetB = 0xa5
Nothing = 0x01
EnableStepper = 0x1a
UnenableStepper = 0x1b
Stepernu = 0x1c
I2CMotorDriverAdd = 0x0f #Set the address of the I2CMotorDriver
def __init__(self,address=0x0f):
self.I2CMotorDriverAdd=address
#Maps speed from 0-100 to 0-255
def map_vals(self,value, leftMin, leftMax, rightMin, rightMax):
#http://stackoverflow.com/questions/1969240/mapping-a-range-of-values-to-another
# Figure out how 'wide' each range is
leftSpan = leftMax - leftMin
rightSpan = rightMax - rightMin
# Convert the left range into a 0-1 range (float)
valueScaled = float(value - leftMin) / float(leftSpan)
# Convert the 0-1 range into a value in the right range.
return int(rightMin + (valueScaled * rightSpan))
#Set motor speed
def MotorSpeedSetAB(self,MotorSpeedA,MotorSpeedB):
MotorSpeedA=self.map_vals(MotorSpeedA,0,100,0,255)
MotorSpeedB=self.map_vals(MotorSpeedB,0,100,0,255)
bus.write_i2c_block_data(self.I2CMotorDriverAdd, self.MotorSpeedSet, [MotorSpeedA,MotorSpeedB])
time.sleep(.02)
#Set motor direction
def MotorDirectionSet(self,Direction):
bus.write_i2c_block_data(self.I2CMotorDriverAdd, self.DirectionSet, [Direction,0])
time.sleep(.02)
if __name__ == "__main__":
m= motor_driver()
while True:
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b1010)
time.sleep(2)
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b0101)
time.sleep(2)

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Software/Python/grove_i2c_motor_driver/motor_example.py Normal file
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#!/usr/bin/env python
#
# GrovePi Example for using the Grove - I2C Motor Driver(http://www.seeedstudio.com/depot/Grove-I2C-Motor-Driver-p-907.html)
#
# The GrovePi connects the Raspberry Pi and Grove sensors. You can learn more about GrovePi here: http://www.dexterindustries.com/GrovePi
#
# Have a question about this example? Ask on the forums here: http://forum.dexterindustries.com/c/grovepi
#
# NOTE:
# * Refer to the wiki to make sure that the address is correct: http://www.seeedstudio.com/wiki/Grove_-_I2C_Motor_Driver_V1.3
# * The I2C motor driver is very sensitive to the commands being sent to it
# * Do not run i2cdetect or send a wrong command to it, the motor driver will stop working and also pull down the I2C clock line, which makes the GrovePi or any other device to stop working too
# *Press reset when if you keep getting errors
'''
## License
The MIT License (MIT)
GrovePi for the Raspberry Pi: an open source platform for connecting Grove Sensors to the Raspberry Pi.
Copyright (C) 2017 Dexter Industries
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
'''
import grove_i2c_motor_driver
import time
try:
# You can initialize with a different address too: grove_i2c_motor_driver.motor_driver(address=0x0a)
m= grove_i2c_motor_driver.motor_driver()
#FORWARD
print("Forward")
m.MotorSpeedSetAB(100,100) #defines the speed of motor 1 and motor 2;
m.MotorDirectionSet(0b1010) #"0b1010" defines the output polarity, "10" means the M+ is "positive" while the M- is "negtive"
time.sleep(2)
#BACK
print("Back")
m.MotorSpeedSetAB(100,100)
m.MotorDirectionSet(0b0101) #0b0101 Rotating in the opposite direction
time.sleep(2)
#STOP
print("Stop")
m.MotorSpeedSetAB(0,0)
time.sleep(1)
#Increase speed
for i in range (100):
print("Speed:",i)
m.MotorSpeedSetAB(i,i)
time.sleep(.02)
print("Stop")
m.MotorSpeedSetAB(0,0)
except IOError:
print("Unable to find the motor driver, check the addrees and press reset on the motor driver and try again")