If you'd like, you can combine all of the previous steps into one big, popular, well attended motor party!

Mount it all on some cardboard or foam core and you've got a super fun demo board.

The wiring is essentially the same as each discrete motor demo from the previous pages, just spread out a bit for clarity.

Code

Copy the code from the element below, and paste it into a fresh file in Mu. Save the file to your Pico's CIRCUITPY drive as code.py It will automatically run the code!

Press the mode button to check out each test on the board. Each time you press the mode button it'll advance to the next motor test!

# SPDX-FileCopyrightText: 2021 jedgarpark for Adafruit Industries
# SPDX-License-Identifier: MIT

# Pico motor party demo board
# Hardware setup:
#   Servo on GP0
#   DC motor via L9110 H-bridge driver on GP28, GP27 (they're on different PWM channels)
#   Stepper motor via DRV8833 driver breakout on GP21, GP20, GP19, GP18
#   Button on GP3
#   MOSFET driving solenoid on GP14

import time
import board
from digitalio import DigitalInOut, Direction, Pull
import pwmio
from adafruit_motor import stepper, motor, servo

print("*** Welcome to the Raspberry Pi RP2040 Pico Motor Party Demo ***")

led = DigitalInOut(board.LED)
led.direction = Direction.OUTPUT
led.value = True


def blink(times):
    for _ in range(times):
        led.value = False
        time.sleep(0.1)
        led.value = True
        time.sleep(0.1)


# Mode button setup
mode_button = DigitalInOut(board.GP3)
mode_button.direction = Direction.INPUT
mode_button.pull = Pull.UP
mode = -1  # track different demo modes

# Solenoid setup
solenoid = DigitalInOut(board.GP14)  # pin drives a MOSFET
solenoid.direction = Direction.OUTPUT
solenoid.value = False

strike_time = 0.04
recover_time = 0.04

# Solenoid test
def solenoid_test(loops):
    print("solenoid test")
    for _ in range(loops):
        solenoid.value = True
        time.sleep(strike_time)
        solenoid.value = False
        time.sleep(recover_time)
        time.sleep(0.1)


# Servo setup
pwm_servo = pwmio.PWMOut(board.GP0, duty_cycle=2 ** 15, frequency=50)
servo1 = servo.Servo(
    pwm_servo, min_pulse=500, max_pulse=2200
)  # tune pulse for specific servo

# Servo test
def servo_direct_test():
    print("servo test: 90")
    servo1.angle = 90
    time.sleep(2)
    print("servo test: 0")
    servo1.angle = 0
    time.sleep(2)
    print("servo test: 90")
    servo1.angle = 90
    time.sleep(2)
    print("servo test: 180")
    servo1.angle = 180
    time.sleep(2)


# Servo smooth test
def servo_smooth_test():
    print("servo smooth test: 180 - 0, -1º steps")
    for angle in range(180, 0, -1):  # 180 - 0 degrees, -1º at a time.
        servo1.angle = angle
        time.sleep(0.01)
    time.sleep(1)
    print("servo smooth test: 0 - 180, 1º steps")
    for angle in range(0, 180, 1):  # 0 - 180 degrees, 1º at a time.
        servo1.angle = angle
        time.sleep(0.01)
    time.sleep(1)


# DC motor setup
pwm_a = pwmio.PWMOut(board.GP28, frequency=50)
pwm_b = pwmio.PWMOut(board.GP27, frequency=50)
motor1 = motor.DCMotor(pwm_a, pwm_b)

# DC motor test
def dc_motor_test():
    print("DC motor test: 0.5")
    motor1.throttle = 0.5
    time.sleep(0.5)
    print("DC motor test: None")
    motor1.throttle = None
    time.sleep(0.5)
    print("DC motor test: -0.5")
    motor1.throttle = -0.5
    time.sleep(0.5)
    print("DC motor test: None")
    motor1.throttle = None
    time.sleep(0.5)
    print("DC motor test: 0.9")
    motor1.throttle = 1.0
    time.sleep(0.5)
    print("DC motor test: None")
    motor1.throttle = None
    time.sleep(0.5)
    print("DC motor test: -0.9")
    motor1.throttle = -1.0
    time.sleep(0.5)
    print("DC motor test: None")
    motor1.throttle = None
    time.sleep(0.5)


# Stepper motor setup
DELAY = 0.006  # fastest is ~ 0.004, 0.01 is still very smooth, gets steppy after that
STEPS = 513  # this is a full 360º
coils = (
    DigitalInOut(board.GP21),  # A1
    DigitalInOut(board.GP20),  # A2
    DigitalInOut(board.GP19),  # B1
    DigitalInOut(board.GP18),  # B2
)
for coil in coils:
    coil.direction = Direction.OUTPUT

stepper_motor = stepper.StepperMotor(
    coils[0], coils[1], coils[2], coils[3], microsteps=None
)


def stepper_fwd():
    for _ in range(STEPS):
        stepper_motor.onestep(direction=stepper.FORWARD)
        time.sleep(DELAY)
    stepper_motor.release()


def stepper_back():
    for _ in range(STEPS):
        stepper_motor.onestep(direction=stepper.BACKWARD)
        time.sleep(DELAY)
    stepper_motor.release()


# Stepper test
def stepper_test():
    print("stepper test: forward")
    for _ in range(2):
        stepper_fwd()
    time.sleep(1)
    print("stepper test: backward")
    for _ in range(2):
        stepper_back()
    time.sleep(1)


def run_test(testnum):
    if testnum == 0:
        solenoid_test(4)
    elif testnum == 1:
        servo_direct_test()
    elif testnum == 2:
        servo_smooth_test()
    elif testnum == 3:
        dc_motor_test()
    elif testnum == 4:
        stepper_test()


while True:
    if not mode_button.value:
        blink(2)
        mode = (mode + 1) % 5
        print("switch to mode %d" % (mode))
        time.sleep(0.8)  # big debounce
        run_test(mode)

This guide was first published on Feb 17, 2021. It was last updated on 2021-02-17 14:48:05 -0500.

This page (Full Motor Party) was last updated on Apr 04, 2021.

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