View source for NanoHat Motor

[[NanoHat Motor/zh|查看中文]]

==Introduction==
[[File:NanoHat Motor.jpg|thumb|NanoHat Motor]]
* The NanoHat Motor is a motor module with I2C. It uses NXP’s PCA9685 and Toshiba’s TB6612FNG.
* A single module can drive four 5V PWM steering motors and four 12V DC motors or four 5V PWM steering motors and two 12V four-wire step motors. You can drive more motors by stacking multiple modules with different I2C addresses together.
* It uses TI's TPS54331 device to provide stable power source.
* An onboard 32K EEPROM AT24C32D can save user data,
* The NanoHat Motor has the same form factor as the NanoPi NEO and can be stacked on a NanoPi NEO.

==Hardware Spec==
*Input Voltage: 12V
*Capable of driving four 5V PWM steering motors
*Capable of driving four 12V DC motors
*Capable of driving two 12V four-wire step motors
*Onboard 32K EEPROM
*Stackable and Configurable I2C address

[[File:NanoHat Motor_PCB.png | frameless|400px|NanoHat Motor-PCB]]

===Diagram, Layout and Dimension===
[[File:NanoHat Motor-layout.jpg |thumb|600px|NanoHat Motor Layout]]
[[File:NanoHat Motor-02.jpg|thumb|frameless|600px|NanoHat Motor]]

* '''24-Pin Pin Description'''
::{| class="wikitable"
|-
|Pin# || Name  ||Pin#  || Name 
|-
|1    || SYS_3.3V       ||2   || VDD_5V OUT
|-
|3    || I2C_SDA  ||4    || VDD_5V OUT
|- 
|5    || I2C_SCL  ||6    || GND    
|-
|7    || NC       ||8    || NC
|-
|9    || GND      ||10    ||NC  
|-
|11   || NC      ||12    ||NC
|-
|13   || NC      ||14    || GND  
|-
|15   || NC      ||16   || NC
|-
|17   || SYS_3.3V  ||18    ||NC
|-
|19   || NC      ||20    || GND              
|-
|21   || NC     ||22    ||NC
|-
|23   || NC     ||24    ||NC
|}

None of the pins except 5V and GND in the 12-Pin connector is connected.<br>
[http://wiki.friendlyarm.com/wiki/index.php/NanoPi_NEO/zh NanoPi NEO] 
[http://wiki.friendlyarm.com/wiki/index.php/NanoPi_NEO_Air/zh NanoPi NEO Air]
<br>

* '''2-Pin Connector Pin Description'''
::{| class="wikitable"
|-
|Pin# || Name || Description  
|-
|1    || 12V || 12V Input      
|-
|2    || GND  || Ground  
|}

* '''4Pin PWM Steering Motor Connector Pin Description'''
::{| class="wikitable"
|-
|Pin# || Name || Description  
|-
|1    || PWM* || PWM * Output     
|-
|2    || NC  || Not Connected  
|-
|3    || 5V || 5V Output      
|-
|4    || GND  || Ground  
|}
[http://wiki.friendlyarm.com/wiki/images/f/f5/2.0mm_dip_4pin.jpg 2.0mm 4Pin PWM Steering Motor Connector Pin File in PDF]

* '''Motor Connector Pin Description'''
::{| class="wikitable"
|-
|Name || Description  
|-
|M1    || DC Motor #1 output/Step Motor #1 (Wire 1 & 2) output     
|-
|M2    || DC Motor #2 output/Step Motor #1 (Wire 3 & 4) output   
|-
|M3    || DC Motor #3 output/Step Motor #2 (Wire 1 & 2) output
|-
|M4    || DC Motor #4 output/Step Motor #2 (Wire 3 & 4) output
|}

==Hardware Setup==
===Connect NanoHat Motor to NanoPi  NEO===
The NanoHat Motor has the same form factor as the NanoPi NEO and can be stacked on a NanoPi NEO
Here are some hardware setups:<br>
[[File:NanoHat Motor_nanopi_NEO.jpg|frameless|600px|NanoHat Motor_nanopi_NEO]]
[[File:NanoHat Motor_nanopi_NEO_Air.jpg|frameless|600px|NanoHat Motor_nanopi_NEO_Air]]
[[File:NanoHat Motor_nanopi_NEO2.jpg|frameless|600px|NanoHat Motor_nanopi_NEO2]]<br>
The I2C address on the module can be reset by adjusting the onboard resistor. You can stack multiple motor modules together with different I2C addresses. Here is a hardware setup:<br>
[[File:NanoHat Motor_nanopi_NEO_Hat.jpg|frameless|600px|NanoHat Motor_nanopi_NEO_Hat]]

==Run Test Program==

The NanoHat Motor's test program is included in the NanoHAT-Motor-Python-Library.

The NanoHAT-Motor-Python-Library is a Python library which provides various APIs for motor control.

Applicable Boards:<br />
NanoPi NEO<br />
NanoPi Fire<br />
NanoPi NEO2<br />
NanoPi NEO Plus2<br />

As for other FriendlyElec's nano boards as long as they have an I2C interface you can make them work with this module by making some wiring.

===Install NanoHAT-Motor-Python-Library===
To make a NEO work with the motor module you need to install this library on NEO. You can install the library by logging into your NEO via ssh and type the following commands:
<syntaxhighlight lang="bash">
sudo apt-get install python-dev python-smbus git
cd ~
git clone https://github.com/friendlyarm/NanoHAT-Motor-Python-Library
cd NanoHAT-Motor-Python-Library
sudo python setup.py install
</syntaxhighlight>

===Use of NanoHAT-Motor-Python-Library===
====Control DC Motor====
<syntaxhighlight lang="bash">
cd ~/NanoHAT-Motor-Python-Library/examples
python DCTest.py <motor port>
</syntaxhighlight>
"<motor port>" is a motor's port

====Control Step Motor====
<syntaxhighlight lang="bash">
cd ~/NanoHAT-Motor-Python-Library/examples
python StepperTest.py <motor port>
</syntaxhighlight>
"<motor port>" is a step motor's port

====Control Steering Motor====
<syntaxhighlight lang="bash">
cd ~/NanoHAT-Motor-Python-Library/examples
python ServoTest.py <pwm port>
</syntaxhighlight>
"<pwm port>" is a steering motor's port

==Resources==
*[Schematic]([http://wiki.friendlyarm.com/wiki/images/2/2d/SCHEMATIC1_NanoHat_Motor_v1.0_1703.pdf Schematic - NanoHat Motor.pdf])
*[Datasheet]([http://www.nxp.com/documents/data_sheet/PCA9685.pdf PCA9685 datasheet])
*[Datasheet]([http://wiki.friendlyarm.com/wiki/images/6/62/TB6612FNG_datasheet_en.pdf TB6612FNG datasheet])
*[Dimension]([http://wiki.friendlyarm.com/wiki/images/f/f5/2.0mm_dip_4pin.jpg 2.0mm 4Pin PWM Steering Motor Connector Pin File in PDF])

==Update Log==
===April-20-2017===
* Released English Version