{"id":5537,"date":"2022-10-05T14:56:02","date_gmt":"2022-10-05T18:56:02","guid":{"rendered":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/?p=5537"},"modified":"2022-10-05T14:56:03","modified_gmt":"2022-10-05T18:56:03","slug":"motor-marble-run","status":"publish","type":"post","link":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/2022\/10\/05\/motor-marble-run\/","title":{"rendered":"Motor Marble Run"},"content":{"rendered":"\n
base-plate-motor-laser-cut<\/a>Download<\/a><\/div>\n\n\n\n
spin-cover-plate-motor-laser-cut<\/a>Download<\/a><\/div>\n\n\n\n
top-plate-motor-laser-cut<\/a>Download<\/a><\/div>\n\n\n\n
side-stand-motor-laser-cut<\/a>Download<\/a><\/div>\n\n\n\n
spinner-motor-laser-cut<\/a>Download<\/a><\/div>\n\n\n\n

Intent: the marble is placed at one end, it is moved by the spinner 180 degrees into the narrow path. The marble moves through the narrow path by the speed applied<\/p>\n\n\n\n

IMG-8392<\/a>Download<\/a><\/div>\n\n\n\n

print(“Hello World!”)<\/p>\n\n\n\n

print(“Starting dual_spin script.”)<\/p>\n\n\n\n

import math, time
import board
import pwmio<\/p>\n\n\n\n

class DRV8833():
def init<\/strong>(self, AIN1=board.GP18, AIN2=board.GP19, BIN2=board.GP20, BIN1=board.GP21, pwm_rate=20000):
# Create a pair of PWMOut objects for each motor channel.
self.ain1 = pwmio.PWMOut(AIN1, duty_cycle=0, frequency=pwm_rate)
self.ain2 = pwmio.PWMOut(AIN2, duty_cycle=0, frequency=pwm_rate)<\/p>\n\n\n

\n    self.bin1 = pwmio.PWMOut(BIN1, duty_cycle=0, frequency=pwm_rate)\n    self.bin2 = pwmio.PWMOut(BIN2, duty_cycle=0, frequency=pwm_rate)\n\ndef write(self, channel, rate):\n    """Set the speed and direction on a single motor channel.\n\n    :param channel:  0 for motor A, 1 for motor B\n    :param rate: modulation value between -1.0 and 1.0, full reverse to full forward."""\n\n    # convert the rate into a 16-bit fixed point integer\n    pwm = min(max(int(2**16 * abs(rate)), 0), 65535)\n\n    if channel == 0:\n        if rate < 0:\n            self.ain1.duty_cycle = pwm\n            self.ain2.duty_cycle = 0\n        else:\n            self.ain1.duty_cycle = 0\n            self.ain2.duty_cycle = pwm\n    else:\n        if rate < 0:\n            self.bin1.duty_cycle = pwm\n            self.bin2.duty_cycle = 0\n        else:\n            self.bin1.duty_cycle = 0\n            self.bin2.duty_cycle = pwm\n<\/pre>\n\n\n
——————————————————————————–<\/h1>\n\n\n\n
Create an object to represent a dual motor driver.<\/h1>\n\n\n\n
print(“Creating driver object.”)
driver = DRV8833()<\/p>\n\n\n\n
print(“Starting main script.”)
while True:
# initial pause
time.sleep(2.0)<\/p>\n\n\n
\nprint("Testing motor A.")\ndriver.write(0, 0.75)\ntime.sleep(2.0)\n\ndriver.write(0, 0.0)\ntime.sleep(2.0)\n\ndriver.write(0, 0.75)\ntime.sleep(2.0)\n\ndriver.write(0, 0.0)\ntime.sleep(2.0)\n<\/pre>","protected":false},"excerpt":{"rendered":"
Intent: the marble is placed at one end, it is moved by the spinner 180 degrees into the narrow path. The marble moves through the narrow path by…<\/p>\n","protected":false},"author":56,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[1],"tags":[],"_links":{"self":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/posts\/5537"}],"collection":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/users\/56"}],"replies":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/comments?post=5537"}],"version-history":[{"count":1,"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/posts\/5537\/revisions"}],"predecessor-version":[{"id":5544,"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/posts\/5537\/revisions\/5544"}],"wp:attachment":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/media?parent=5537"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/categories?post=5537"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-223\/f2022\/work\/wp-json\/wp\/v2\/tags?post=5537"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}