Book Image

Mastering Beaglebone Robotics

By : Richard Grimmett
Book Image

Mastering Beaglebone Robotics

By: Richard Grimmett

Overview of this book

Table of Contents (18 chapters)
Mastering BeagleBone Robotics
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
Index

Program to control DC motors using the BeagleBone Black


Now that you've connected your motor, here is a simple Python program to control one of the motors:

Let's look at the details. Here are the individual command statements:

  • #!/usr/bin/python: As noted earlier, this command sets up the program to be executed without invoking Python

  • import Adafruit_BBIO.PWM as PWM: This library is used to communicate with the GPIO pins

  • motor1 = "P8_13": This sets the motor to PWM control P8_13—the 13th pin on the 8th connector

  • duty_stop = 9: This sets the duty cycle of the PWM that is needed to stop the motor

  • duty_forward = 12 # 12 max: This sets the duty cycle of the PWM signal on the control pin that is needed to make the motor go in the forward direction at the maximum speed

  • duty_back = 6 # 6 min: This sets the duty cycle of the PWM signal on the control pin that is needed to make the motor go in the backward direction at the maximum speed

  • PWM.start(motor1, duty_stop, 60.0): This sets the PWM signal...