# AFMotor Library Reference ## AF_DCMotor Class ![](https://cdn-learn.adafruit.com/assets/assets/000/001/574/medium800/adafruit_products_DC_Motors.jpg?1396773984) The AF\_DCMotor class provides speed and direction control for up to four DC motors when used with the Adafruit Motor Shield.  To use this in a sketch you must first add the following line at the beginning of your sketch: ```auto #include ``` # **AF\_DCMotor _motorname_(_portnum_, _freq_)** > This is the constructor for a DC motor.  Call this constructor once for each motor in your sketch.  Each motor instance must have a different name as in the example below. **Parameters:** - **port num** - selects which channel (1-4) of the motor controller the motor will be connected to - **freq** - selects the PWM frequency.  If no frequency is specified, 1KHz is used by default. > > Frequencies for channel 1 & 2 are: > > > > - MOTOR12\_64KHZ > > - MOTOR12\_8KHZ > > - MOTOR12\_2KHZ > > - MOTOR12\_1KHZ > > > > Frequencies for channel 3 & 4 are: > > > > - MOTOR34\_64KHZ > > - MOTOR34\_8KHZ > > - MOTOR34\_1KHZ **Example:** ```auto AF_DCMotor motor4(4); // define motor on channel 4 with 1KHz default PWM AF_DCMotor left_motor(1, MOTOR12_64KHZ); // define motor on channel 1 with 64KHz PWM ``` ![](https://cdn-learn.adafruit.com/assets/assets/000/001/577/medium800/adafruit_products_DC_Motor_Ports.gif?1447864294) _ **Note:**   Higher frequencies will produce less audible hum in operation, but may result in lower torque with some motors._ # **setSpeed(_speed_)** > Sets the speed of the motor. **Parameters:** -   **speed** - Valid values for 'speed' are between 0 and 255 with 0 being off and 255 as full throttle. **Example:** ```auto motor1.setSpeed(255); // Set motor 1 to maximum speed motor4.setSpeed(127); // Set motor 4 to half speed ``` _ **Note** _ **:** _DC Motor response is not typically linear, and so the actual RPM will not necessarily be proportional to the programmed speed._ # **run(_cmd_)** > Sets the run-mode of the motor. **Parameters:** - **cmd** - the desired run mode for the motor > Valid values for cmd are: > > - **FORWARD** - run forward (actual direction of rotation will depend on motor wiring) > - **BACKWARD** - run backwards (rotation will be in the opposite direction from FORWARD) > - **RELEASE** - Stop the motor.  This removes power from the motor and is equivalent to setSpeed(0).  The motor shield does not implement dynamic breaking, so the motor may take some time to spin down **Example:** ```auto motor.run(FORWARD); delay(1000); // run forward for 1 second motor.run(RELEASE); delay(100); // 'coast' for 1/10 second motor.run(BACKWARDS); // run in reverse ``` # AFMotor Library Reference ## AF_Stepper Class ![](https://cdn-learn.adafruit.com/assets/assets/000/001/575/medium800/adafruit_products_Stepper_Motors.jpg?1396773989) The AF\_Stepper class provides single and multi-step control for up to 2 stepper motors when used with the Adafruit Motor Shield.  To use this in a sketch you must first add the following line at the beginning of your sketch: ```auto #include ``` # AF\_Stepper _steppername_(_steps_, _portnumber_) The AF\_Stepper constructor defines a stepper motor.  Call this once for each stepper motor in your sketch.  Each stepper motor instance must have a unique name as in the example below. **Parameters:** - **steps** - declare the number of steps per revolution for your motor. - **num** - declare how the motor will be wired to the shield.  > Valid values for 'num' are 1 (channels 1 & 2) and 2 (channels 3 & 4). **Example:** ![](https://cdn-learn.adafruit.com/assets/assets/000/001/570/medium800/adafruit_products_Stepper_Ports.gif?1447864293) ```auto AF_Stepper Stepper1(48, 1); // A 48-step-per-revolution motor on channels 1 & 2 AF_Stepper Stepper2(200, 2); // A 200-step-per-revolution motor on channels 3 & 4 ``` # step(_steps, direction, style_) Step the motor. **Parameters:** - **steps** - the number of steps to turn - **direction** - the direction of rotation ( **FORWARD** or **BACKWARD** ) - **style** - the style of stepping: > Valid values for 'style' are: > - **SINGLE** - One coil is energized at a time. > - **DOUBLE** - Two coils are energized at a time for more torque. > - **INTERLEAVE** - Alternate between single and double to create a half-step in between.  This can result in smoother operation, but because of the extra half-step, the speed is reduced by half too. > - **MICROSTEP** - Adjacent coils are ramped up and down to create a number of 'micro-steps' between each full step.  This results in finer resolution and smoother rotation, but with a loss in torque. _ **Note:** Step is a synchronous command and will not return until all steps have completed.  For concurrent motion of two motors, you must handle the step timing for both motors and use the "onestep()" function below._ **Example:** ```auto Stepper1.step(100, FORWARD, DOUBLE); // 100 steps forward using double coil stepping Stepper2.step(100, BACKWARD, MICROSTEP); // 100 steps backward using double microstepping ``` # **setSpeed(_RPMspeed_)** set the speed of the motor **Parameters:** - Speed - the speed in RPM _ **Note:** The resulting step speed is based on the 'steps' parameter in the constructor.  If this does not match the number of steps for your motor, you actual speed will be off as well._ **Example:** ```auto Stepper1.setSpeed(10); // Set motor 1 speed to 10 rpm Stepper2.setSpeed(30); // Set motor 2 speed to 30 rpm ``` # onestep(_direction, stepstyle_) Single step the motor. **Parameters:** - **direction** - the direction of rotation ( **FORWARD** or **BACKWARD** ) - **stepstyle** - the style of stepping: > Valid values for 'style' are: > - **SINGLE** - One coil is energized at a time. > - **DOUBLE** - Two coils are energized at a time for more torque. > - **INTERLEAVE** - Alternate between single and double to create a half-step in between.  This can result in smoother operation, but because of the extra half-step, the speed is reduced by half too. > - **MICROSTEP** - Adjacent coils are ramped up and down to create a number of 'micro-steps' between each full step.  This results in finer resolution and smoother rotation, but with a loss in torque. **Example:** ```auto Stepper1.onestep(FORWARD, DOUBLE); // take one step forward using double coil stepping ``` # release() Release the holding torque on the motor.  This reduces heating and current demand, but the motor will not actively resist rotation. **Example:** ```auto Stepper1.release(); // stop rotation and turn off holding torque. ``` ## Related Guides - [Adafruit INA3221 Breakout](https://learn.adafruit.com/adafruit-ina3221-breakout.md) - [Adafruit Hallowing M4](https://learn.adafruit.com/adafruit-hallowing-m4.md) - [Adafruit 20W Stereo Audio Amplifier - MAX9744](https://learn.adafruit.com/adafruit-20w-stereo-audio-amplifier-class-d-max9744.md) - [Adafruit A4988 Stepper Motor Driver Breakout Board](https://learn.adafruit.com/adafruit-a4988-stepper-motor-driver-breakout-board.md) - [Adafruit ESP32-S3 Reverse TFT Feather](https://learn.adafruit.com/esp32-s3-reverse-tft-feather.md) - [Dune Worm Thumper](https://learn.adafruit.com/dune-worm-thumper.md) - [WiFi Music Alert Box ](https://learn.adafruit.com/wifi-music-alert-box.md) - [Adafruit Audio BFF](https://learn.adafruit.com/adafruit-audio-bff.md) - [Adafruit PiTFT 3.5" Touch Screen for Raspberry Pi](https://learn.adafruit.com/adafruit-pitft-3-dot-5-touch-screen-for-raspberry-pi.md) - [CircuitPython BLE Crickit Rover](https://learn.adafruit.com/circuitpython-ble-crickit-rover.md) - [Esenciales para CircuitPython](https://learn.adafruit.com/esenciales-para-circuitpython.md) - [Adafruit PCF8591 Basic 4 x ADC + DAC Breakout](https://learn.adafruit.com/adafruit-pcf8591-adc-dac.md) - [Trainable Robotic Arm](https://learn.adafruit.com/trainable-robotic-arm.md) - [Fair Weather Friend: Internet-Connected Migraine or Allergies Detector](https://learn.adafruit.com/fair-weather-friend-internet-connected-health-and-leisure-forecaster.md) - [Cup o' Sound](https://learn.adafruit.com/cup-o-sound.md)