Waveshare Motor Driver HAT User manual

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Motor Driver HAT
User Manual
OVERVIE
This module is a motor driver board for Raspberry Pi. Use I2C interface, could be used
for Robot applications.
FEATURES
⚫Compatible with Raspberry Pi
⚫I2C interface. Slave address hardware configurable makes your pi able to connect
32 motors at the same time
⚫Integrate PCA9685, supports 12bits PWM output
⚫Integrate TB6612FNG, high performance
⚫Integrate 5V regulator, output current up to 3A.
⚫Pins out I2C interface, could connect to other development board
⚫Come with sample codes and user manual

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SPECIFICATIONS
Operating voltage:
6V~12V (VIN port)
Logic voltage:
3.3V
PWM controller:
PCA9685
Interface:
I2C
Motor controller:
TBA6612FNG
Dimension:
65mm x 30mm
Holes size:
3.0mm
INTERFACES

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PIN
Description
5V
5V
3V3
3.3V
GND
Ground
SDA
I2C Data
SCL
I2C Clock
VIN
Driver voltage for motor（6-12V）
A1
positive pole of motor A
A2
negative pole of motor A
B1
positive pole of motor B
B2
negative pole of motor B

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HARDWARES
The module includes three part in hardware: Power, PWM and Motor driver
POWER
MP1854 regulator is used to convert the input voltage (VIN_USER), has wide 4.5V to
28V input range, could provide 3A output. Even the chip supports 28V input, however,
VIN_USER is also the power supply for motor, so the actual working voltage of this
module is 6-12V.
MP1854 outputs stable 5V, which is used to power Raspberry Pi, and supplies 3.3V
logic level for PWM and motor driver via RT9193-33.

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PWM
Raspberry Pi only has one hardware PWM pin (GPIO.1), and the software PWM of
WiringPi and Python will cost CPU resources. This module, we use PCA9685, I2C bus
controlled, support 16-channel 12-bits PWM output. The frequency range of PWM is
40Hz to 1000Hz.
It is very simply to use, to output PWM signal you only need to control corresponding
registers value of chip.
Refer the recommend circuit, LED0-LED5 are motor control pins.
From Page6 to Page8 of datasheet:

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The slave address of I2C bus is 7-bits, highest is fixed 1. A5-A0 are hardware
selectable.
This Motor Driver HAT, A5 is connected to ground (0) by default, you can change
resistors of A0-A4 to configure the slave address. If you weld a resistor or short it,
means 1, otherwise 0. The address range from 0x40 to 0x5F.
For example:
1. A5 is 0, A0-A4 are disconnected (don’t weld), so they are 0 as well. The final I2C
slave address is 0x40
2. Welding 0Ωresistors to A0-A4 or shorting them, the final I2C slave address is
0x5F. You can use i2cdetect tool to detect i2C devices on Raspberry Pi as below:
execute command: i2cdetect -y 1

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MOTOR DRIVER
TB6612FNG is a driver IC for DC motor with high performance.
VIN_USER is input voltage, in theory, motor speed up if this voltage is increased.
Recommend input voltage is 6~12V
PWMA and PWMB control speed of motors, AIN1 and AIN2, BIN1 and BIN2 control
rotate direction of motors.
A1 and A2, B1 and B2 are connect to positive/negative poles of two motors separately.

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HOW TO USE
ENABLE I2C INTERFACE
To works with Raspberry Pi, you should first enable I2C interface as below:
sudo raspi-config
Then choose Interfacing Options -> I2C -> Yes

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【Note】If you get errors information after running demo code, please modify the
modules file as below:
sudo nano /etc/mdoules
Append these statements to the end and save:
i2c-dev
i2c-bcm2708
DOWNLOAD DEMO CODE
Demo code can be downloaded from Wiki:
⚫https://www.waveshare.com/wiki/Motor_Driver_HAT
Extract on your PC and copy to Raspberry Pi
LIBRARIES INSTALLATION
Before running the demo code, you should install necessary libraries (WiringPi,
BCM2835 and python). About how to install libraries, you can refer to this page:
⚫Libraries_Installation_for_RPi

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CODE ANALYSIS
We provide three demo codes for Raspberry Pi, which are based on BCM2835,
WiringPi and python libraries separately.
BCM2835
PROJECT DIRECTORY AND FILES
/bin:
.o files generated by makefile
Makefile: makefile is used to tell the compiler how to compile your project/code.
motor: executable file, which you can execute to run the code
/Obj: workspace of project
Debug.h: heard files of debug function, you can use DEBUG() to print debug
information like printf() by change USE_DEBUG to 1

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DEV_Config.c(h): Defines PINS used and communication type, different between
BCM2835 and WiringPi.
PCA9685.c(h): Drive code of PCA9685 chip. Could output 16-channel PWM signal
via I2C interface
MotorDriver.c(.h): Drive code of TB6612FNG chip, control two motors.
main.c: main function
DEMO CODES
1. initialize BCM2835 libraries
if(DEV_ModuleInit())
exit(0);
2. Initialize motor and PCA9685
Motor_Init();
3. Control motors
Motor_Run(MOTORA, FORWARD, 100);
Parameter 1: MOTORA or MOTORB
Parameter 2: FORWARD or BACKWARD
Parameter 3: 0~100
If you use this module to control robot, with this function you can control the
whole motion of robot.

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This project has Exception Handling. Generally, motor keeps moving even you stop
project. value of control register doesn’t be clean even you use CTRL+c to stop code.
signal(SIGINT, Handler);
single is signal handling function of linux system. SIGINT signal generates when
CTRL+c is executed to stop process, then Handler() function will run. In this function,
motors are stopped
Motor_Stop(MOTORA);
Motor_Stop(MOTORB);
DEV_ModuleExit();
exit(0);
USING
Demo code you download has no executable file moto, you need to run make to
generate it then execute command ./motor to run the demo code.
If you modify or add any functions, you need to run make again to update
If you change values of heard files, command make clear is also need before make.

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WIRINGPI
PROJECT DIRECTORY AND FILES
The files on WiringPi project directory are similar to BCM2835. Their only difference
are:
DEV_Config.c(h): functions called are different
Makefile: linker is different.
USING
Demo code you download has no executable file moto, you need to run make to
generate it then execute command ./motor to run the demo code.
If you modify or add any functions, you need to run make again to update
If you change values of heard files, command make clear is also need before make.

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PYTHON
PROJECT DIRECTORY AND FILES
PCA9685.py is driver code, use I2C interface to output 16-channle PWM signals.
mian.py: Motor driver code
DEMO CODE
1. Instantiate PCA9685 library
pwm = PCA9685(0x40, debug=True)
Parameter 1: slave address of PCA9685, hardware configurable
Parameter 2: enable/disable debug information
pwm.setPWMFreq(50)
Set PWM frequency in range 40~1000
2. Initialize motors
class MotorDriver():
def __init__(self):
self.PWMA = 0
self.AIN1 = 1
self.AIN2 = 2

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self.PWMB = 5
self.BIN1 = 3
self.BIN2 = 4
Motor = MotorDriver()
Output PWM to channel 0~5
3. Control PWM
pwm.setDutycycle(self.PWMA, speed)
Parameter 1: output channel
Parameter 2: Duty ratio, range 0~100
4. Control level
pwm.setLevel(self.AIN1, 1)
Parameter 1: output channel
Parameter 2: level, 1 is high and 0 is low
5. Control motor
Motor.MotorRun(0, 'forward', 0)
Parameter 1: 0 and 1, stands for two motor separately
Parameter 2: forward and backward
Parameter 3: integers in 0~100, control speed

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MORE
You can also control it via Bluetooth or WiFi. About how to use you can refer to Servo
Driver HAT:
https://www.waveshare.com/w/upload/1/1b/Servo_Driver_HAT_User_Manual_EN.pdf