NanoHat Motor

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1 Introduction

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.

2 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

2.1 Diagram, Layout and Dimension

NanoHat Motor Layout

NanoHat Motor

• 24-Pin Pin Description

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.
NanoPi NEO NanoPi NEO Air

• 2-Pin Connector Pin Description

Pin#	Name	Description
1	12V	12V Input
2	GND	Ground

• 4Pin PWM Steering Motor Connector Pin Description

Pin#	Name	Description
1	PWM*	PWM * Output
2	NC	Not Connected
3	5V	5V Output
4	GND	Ground

• Motor Connector Pin Description

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

3 Hardware Setup

3.1 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:
NanoHat Motor_nanopi_NEO2
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:

4 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:
NanoPi NEO
NanoPi Fire

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.

4.1 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:

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

4.2 Use of NanoHAT-Motor-Python-Library

4.2.1 Control DC Motor

cd ~/NanoHAT-Motor-Python-Library/examples
python DCTest.py <motor port>

"<motor port>" is a motor's port

4.2.2 Control Step Motor

cd ~/NanoHAT-Motor-Python-Library/examples
python StepperTest.py <motor port>

"<motor port>" is a step motor's port

4.2.3 Control Steering Motor

cd ~/NanoHAT-Motor-Python-Library/examples
python ServoTest.py <pwm port>

"<pwm port>" is a steering motor's port

5 Resources

• [Schematic](Schematic - NanoHat Motor.pdf)
• [Datasheet](PCA9685 datasheet)
• [Datasheet](TB6612FNG datasheet)

6 Update Log

6.1 April-20-2017

• Released English Version