Hello,

I started to use the Adafruit motor hat with this library.
I discovered several issues:

1. When a new motorhat is initialised, a new steppermotor instance is also initialized in line 230:
   self.steppers = [ Adafruit_StepperMotor(self, 1), Adafruit_StepperMotor(self, 2) ]

In this way. The steps per revolution is not changeable during initialization and remains 200.

1. The timing is of by using time.sleep(s_per_s) in line 159. This can be greatly Improved by:
   time.sleep(time.time() - time_before_start - s_per_s)
2. The speed of execution can be improved by only sending the commands needed with this snippet starting from line 130:

           if (dir == Adafruit_MotorHAT.FORWARD):
                   prev_coil = step2coils[(self.currentstep/(self.MICROSTEPS/2) - 1) % len(step2coils)]
           else:
                   prev_coil = step2coils[(self.currentstep/(self.MICROSTEPS/2) + 1) % len(step2coils)]
           coils = step2coils[self.currentstep/(self.MICROSTEPS/2)]


#print "coils state = " + str(coils)
pin_to_set = [self.AIN2, self.BIN1, self.AIN1, self.BIN2]
for pin in range (0, 4):
           if prev_coil[pin] != coils[pin]:
                      self.MC.setPin(pin_to_set[pin], coils[pin])

1. Is it possible that at line 239, the logic bits are reversed?

if (value == 0):
       self._pwm.setPWM(pin, 0, 4096)
if (value == 1):
       self._pwm.setPWM(pin, 4096, 0)

Shouldn’t it be like this:

if (value == 1):
       self._pwm.setPWM(pin, 0, 4096)
if (value == 0):
       self._pwm.setPWM(pin, 0, 0)`

1. The loop running the commands is locked and cannot be aborted. This is often needed in all sorts of situations. Is it possible to have an abort bit programmed in the loop in line 157

Raspberry Pi3 with Raspian
python 2.7.9

In one direction of rotation, the library switches off the current at maximum. Furthermore, the coils are switched one step too early.
I solved the problem like this:

    if (style == Adafruit_MotorHAT.MICROSTEP):
        self.currentstep -= 1

        # go to next 'step' and wrap around
        self.currentstep += self.MICROSTEPS * 4
        self.currentstep %= self.MICROSTEPS * 4

        pwm_a = wm_b = 0
        if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
            pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS - self.currentstep]
            pwm_b = self.MICROSTEP_CURVE[self.currentstep]
        elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
            pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS]
            pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*2 - self.currentstep]
        elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
            pwm_a = self.MICROSTEP_CURVE[self.MICROSTEPS*3 - self.currentstep]
            pwm_b = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*2]
        elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
            pwm_a = self.MICROSTEP_CURVE[self.currentstep - self.MICROSTEPS*3]
            pwm_b = self.MICROSTEP_CURVE[self.MICROSTEPS*4 - self.currentstep]

    # only really used for microstepping, otherwise always on!
    self.MC._pwm.setPWM(self.PWMA, 0, pwm_a*16)
    self.MC._pwm.setPWM(self.PWMB, 0, pwm_b*16)

    # set up coil energizing!
    coils = [0, 0, 0, 0]

    if (style == Adafruit_MotorHAT.MICROSTEP):
        if (self.currentstep >= 0) and (self.currentstep < self.MICROSTEPS):
            if (dir == Adafruit_MotorHAT.FORWARD):
                coils = [1, 1, 0, 0]
            else:
                coils = [1, 0, 0, 1]
        elif (self.currentstep >= self.MICROSTEPS) and (self.currentstep < self.MICROSTEPS*2):
            if (dir == Adafruit_MotorHAT.FORWARD):
                coils = [0, 1, 1, 0]
            else:
                coils = [0, 0, 1, 1]
        elif (self.currentstep >= self.MICROSTEPS*2) and (self.currentstep < self.MICROSTEPS*3):
            if (dir == Adafruit_MotorHAT.FORWARD):
                coils = [0, 0, 1, 1]
            else:
                coils = [0, 1, 1, 0]
        elif (self.currentstep >= self.MICROSTEPS*3) and (self.currentstep < self.MICROSTEPS*4):
            if (dir == Adafruit_MotorHAT.FORWARD):
                coils = [1, 0, 0, 1]
            else:
                coils = [1, 1, 0, 0]
    else:
        step2coils = [     [1, 0, 0, 0],
            [1, 1, 0, 0],
            [0, 1, 0, 0],
            [0, 1, 1, 0],
            [0, 0, 1, 0],
            [0, 0, 1, 1],
            [0, 0, 0, 1],
            [1, 0, 0, 1] ]
        coils = step2coils[self.currentstep//(self.MICROSTEPS//2)]

    #print "coils state = " + str(coils)
    self.MC.setPin(self.AIN2, coils[0])
    self.MC.setPin(self.BIN1, coils[1])
    self.MC.setPin(self.AIN1, coils[2])
    self.MC.setPin(self.BIN2, coils[3])

    return self.currentstep

hi

ive got a stepper with a 1:900 Transmission, which needs a Supply of 6-15V and 150mA.

When i m driving the Motor, like the example shows, the driver is pulling around 800 mA and the voltage is getting high to 18V.... Additional to that, the Stepper turns very very very slow. I tried a lot of changes, but nothing worked. Any ideas ?

please provide also a C/C++ library code for the Raspberry Pi!
(in case I missed it: please link to the github repository in the overview if it already might exist)

The last two lines the the StepperTest.py have wrong indents and do not even compile. As they belong to a while loop as the other previous lines, they should have only 1 indent instead of 2. It's clearly visible even in GitHub.

   while (True):
    print("Single coil steps")
    myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.SINGLE)
    myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.SINGLE)

    print("Double coil steps")
    myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.DOUBLE)
    myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.DOUBLE)

    print("Interleaved coil steps")
    myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.INTERLEAVE)
    myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.INTERLEAVE)

    print("Microsteps")
        myStepper.step(100, Adafruit_MotorHAT.FORWARD,  Adafruit_MotorHAT.MICROSTEP)
        myStepper.step(100, Adafruit_MotorHAT.BACKWARD, Adafruit_MotorHAT.MICROSTEP)

In addition to that, has anyone even tried to run this code with a stepper motor? Can't seem to get it move my stepper motor smoothly (which is powered by an external power). Motor is zig-zagging back and forth even if there's just one forward command.

DualStepper example results in choppy movement. I believe this is because there is no thread synchronization in Adafruit_PWM_Servo_Driver.py
See https://forums.adafruit.com/viewtopic.php?f=50&t=104354

You should probably add
apt-get install -y python-smbus

which brings in as a bonus:

The following extra packages will be installed:
  i2c-tools

and something like

# Auto load i2c kernel modules
# This works for Pi2, I think the Pi1 only has i2c-dev? No idea.
 if ! grep -q "i2c-" /etc/modules; then
    echo "i2c-dev" >> /etc/modules
    echo "i2c-bcm2708" >> /etc/modules
fi

to your build script.

Here's why,

On a vanilla Pi2 running Raspbian

root@jazzy ~ # cat /etc/debian_version
7.8

after installing the Motor HAT library with
python setup.py install

You get this:

root@jazzy ~/nodedemo/Adafruit-Motor-HAT-Python-Library/examples # python DCTest.py
Traceback (most recent call last):
  File "DCTest.py", line 2, in <module>
    from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor
  File "/usr/local/lib/python2.7/dist-packages/Adafruit_MotorHAT-1.2.0-py2.7.egg/Adafruit_MotorHAT/__init__.py", line 1, in <module>
    from .Adafruit_MotorHAT import Adafruit_StepperMotor, Adafruit_DCMotor, Adafruit_MotorHAT
  File "/usr/local/lib/python2.7/dist-packages/Adafruit_MotorHAT-1.2.0-py2.7.egg/Adafruit_MotorHAT/Adafruit_MotorHAT.py", line 3, in <module>
    from Adafruit_PWM_Servo_Driver import PWM
  File "/usr/local/lib/python2.7/dist-packages/Adafruit_MotorHAT-1.2.0-py2.7.egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py", line 5, in <module>
    from Adafruit_I2C import Adafruit_I2C
  File "/usr/local/lib/python2.7/dist-packages/Adafruit_MotorHAT-1.2.0-py2.7.egg/Adafruit_MotorHAT/Adafruit_I2C.py", line 3, in <module>
    import smbus
ImportError: No module named smbus

python-smbus is not there by default. i2c-tools isn't there either and i2c kernel modules aren't loaded.

python scripts/drive.py --remote http://163.v.v.x:8887
Detected running on rasberrypi. Only importing select modules.
Using TensorFlow backend.
Traceback (most recent call last):
File "scripts/drive.py", line 35, in
mythrottlecontroller = dk.actuators.PCA9685_Controller(cfg['throttle_actuator_channel'])
AttributeError: 'module' object has no attribute 'PCA9685_Controller'

I think there is a discrepancy between your code and your comment.
in StepperTest.py
myStepper = mh.getStepper(200, 2) # 200 steps/rev, motor port #1

Problem:

Currently there is no way of ascertaining what a motor is doing; it must be tracked manually in the users code. This may create issues when multi-threading or in complex functions where manually tracking the status of the motors is undesirable.

The Adafruit_StepperMotor and Adafruit_DCMotor classes should store this information locally and be able to return it when requested.

Solution

To implement this, I propose the following new methods:
In class Adafruit_StepperMotor:

• getSpeed()
  • Takes no arguments
  • returns RPM

(I'm not familiar with running stepper motors, so other GET methods as necessary. This was the only one I could tell was necessary from looking at the source)

In class Adafruit_DCMotor

• getSpeed()
  • Takes no arguments
  • Returns speed (0-255)
• getCommand()
  • Takes no arguments
  • Returns Adafruit_MotorHAT ENUM
    • Adafruit_MotorHAT.FORWARD
    • Adafruit_MotorHAT.BACKWARD
    • Adafruit_MotorHAT.BRAKE
    • Adafruit_MotorHAT.RELEASE

Additionally, some class variables would have to be added to track this information. Class methods would have to be updated to use these variables instead of method variables they currently use.

I would do this myself and submit a pull request, but I'm new to Python and this code is still slightly over my head.

Hi,
I've receive my new Motor Hat for my raspberry pi
I've installed the library with: https://learn.adafruit.com/adafruit-dc-and-stepper-motor-hat-for-raspberry-pi/installing-software

but when I try examples i got this error:
pi@raspberrypi:~/Adafruit-Motor-HAT-Python-Library/examples $ sudo python DCTest.py Traceback (most recent call last): File "DCTest.py", line 2, in <module> from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor File "build/bdist.linux-armv7l/egg/Adafruit_MotorHAT/__init__.py", line 1, in <module> File "build/bdist.linux-armv7l/egg/Adafruit_MotorHAT/Adafruit_MotorHAT.py", line 3, in <module> File "build/bdist.linux-armv7l/egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py", line 11, in <module> File "build/bdist.linux-armv7l/egg/Adafruit_MotorHAT/Adafruit_PWM_Servo_Driver.py", line 35, in PWM File "build/bdist.linux-armv7l/egg/Adafruit_MotorHAT/Adafruit_I2C.py", line 43, in __init__ IOError: [Errno 2] No such file or directory
I don't know what it is...

Thanks by advance for your help!

Please register this project on the Python Package Index (https://pypi.python.org). That would make it easier to install using pip.

Hey team, I've started porting this library to Android Things (Java). The code is here and, though it only supports DC motors, it's already useful for projects:

Feel free to close this ticket, I I just wanted to let you know about this port. Thanks for opensourcing this Python library :)

I've been trying to use the HAT and followed the instructions on Adafruit to a T, but I am still getting the same error message.

pi@raspberrypi:~/Adafruit-Motor-HAT-Python-Library/examples $ sudo python StepperTest.py
Traceback (most recent call last):
File "StepperTest.py", line 3, in
from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor
File "build/bdist.linux-armv7l/egg/Adafruit_MotorHAT/init.py", line 1, in
File "/usr/local/lib/python2.7/dist-packages/Adafruit_MotorHAT-1.3.1-py2.7.egg/Adafruit_MotorHAT/Adafruit_MotorHAT.py", line 52
if (dir == Adafruit_MotorHAT.FORWARD):
^
IndentationError: expected an indented block

I have tested my i2C and everything seems to be working there.

pi@raspberrypi:~ $ sudo i2cdetect -y 1
0 1 2 3 4 5 6 7 8 9 a b c d e f
00: -- -- -- -- -- -- -- -- -- -- -- -- --
10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
40: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
60: 60 -- -- -- -- -- -- -- -- -- -- -- -- -- -- --
70: 70 -- -- -- -- -- -- --

My stepper motor is receiving power because I cannot manually turn it.

Any solution? Thanks in advance.

Thank you for opening an issue on an Adafruit Python library repository. To
improve the speed of resolution please review the following guidelines and
common troubleshooting steps below before creating the issue:

• Do not use GitHub issues for troubleshooting projects and issues. Instead use
  the forums at http://forums.adafruit.com to ask questions and troubleshoot why
  something isn't working as expected. In many cases the problem is a common issue
  that you will more quickly receive help from the forum community. GitHub issues
  are meant for known defects in the code. If you don't know if there is a defect
  in the code then start with troubleshooting on the forum first.

• If following a tutorial or guide be sure you didn't miss a step. Carefully
  check all of the steps and commands to run have been followed. Consult the
  forum if you're unsure or have questions about steps in a guide/tutorial.

• For Python/Raspberry Pi projects check these very common issues to ensure they don't apply:

  • If you are receiving an ImportError: No module named... error then a
    library the code depends on is not installed. Check the tutorial/guide or
    README to ensure you have installed the necessary libraries. Usually the
    missing library can be installed with the pip tool, but check the tutorial/guide
    for the exact command.

  • Be sure you are supplying adequate power to the board. Check the specs of
    your board and power in an external power supply. In many cases just
    plugging a board into your computer is not enough to power it and other
    peripherals.

  • Double check all soldering joints and connections. Flakey connections
    cause many mysterious problems. See the guide to excellent soldering for examples of good solder joints.

If you're sure this issue is a defect in the code and checked the steps above
please fill in the following fields to provide enough troubleshooting information.
You may delete the guideline and text above to just leave the following details:

• Platform/operating system (i.e. Raspberry Pi with Raspbian operating system,
  Windows 32-bit, Windows 64-bit, Mac OSX 64-bit, etc.): INSERT PLATFORM/OPERATING
  SYSTEM HERE

• Python version (run python -version or python3 -version): INSERT PYTHON
  VERSION HERE

• Error message you are receiving, including any Python exception traces: INSERT
  ERROR MESAGE/EXCEPTION TRACES HERE*

• List the steps to reproduce the problem below (if possible attach code or commands
  to run): LIST REPRO STEPS BELOW

This should be at least noted on the repo so people waist hours trying. This port should not be too difficult and there are several branches/pull requests that have made it working for their application.

The PMW Servo Hat has a great install flow that works for python 3. Could this install guide be made to match.

I'm using this to allow differential drive cars use the donkey to make them self driving.

Hi,

There's no way to turn a DC motor fully on or off because the max value should be 4095 (or 4096 special) and 255*16 isn't that. I guess I can just set the pin on so it's not a big deal.

The "x sec per step" message when moving a stepper motor should be a debug message, and off by default. If using a CLI, the message clutters the display.

Adafruit_MotorHAT_Motors.py

class Adafruit_StepperMotor:

    ...

    def __init__(self, controller, num, steps=200, debug=False):

        ...

        self.debug = debug

    ...

    def step(self, steps, direction, stepstyle):

        ...

        if self.debug:

            print("{} sec per step".format(s_per_s))

...

python diff_drive.py
Detected running on rasberrypi. Only importing select modules.
Using TensorFlow backend.
diff_vehicle
{'steering_actuator_channel': None, 'vehicle_id': 'mycar', 'throttle_actuator_channel': None, 'pilot_model_path': '/home/pi/mydonkey/models/default.h5', 'throttle_actuator_min_pulse': None, 'vehicle_loop_delay': 0.08, 'camera_loop_delay': 0.08, 'steering_actuator_min_pulse': None, 'throttle_actuator_zero_pulse': None, 'steering_actuator_max_pulse': None, 'throttle_actuator_max_pulse': None}
Traceback (most recent call last):
File "diff_drive.py", line 31, in
left_motor = dk.actuators.Adafruit_Motor_Hat_Controller(cfg['left_actuator_channel'])
KeyError: 'left_actuator_channel'

defined the key in the file,but not accessing the left_actuator_channel key... please help me.. should i include anything

Thank you for opening an issue on an Adafruit Python library repository. To
improve the speed of resolution please review the following guidelines and
common troubleshooting steps below before creating the issue:

• Do not use GitHub issues for troubleshooting projects and issues. Instead use
  the forums at http://forums.adafruit.com to ask questions and troubleshoot why
  something isn't working as expected. In many cases the problem is a common issue
  that you will more quickly receive help from the forum community. GitHub issues
  are meant for known defects in the code. If you don't know if there is a defect
  in the code then start with troubleshooting on the forum first.

• If following a tutorial or guide be sure you didn't miss a step. Carefully
  check all of the steps and commands to run have been followed. Consult the
  forum if you're unsure or have questions about steps in a guide/tutorial.

• For Python/Raspberry Pi projects check these very common issues to ensure they don't apply:

  • If you are receiving an ImportError: No module named... error then a
    library the code depends on is not installed. Check the tutorial/guide or
    README to ensure you have installed the necessary libraries. Usually the
    missing library can be installed with the pip tool, but check the tutorial/guide
    for the exact command.

  • Be sure you are supplying adequate power to the board. Check the specs of
    your board and power in an external power supply. In many cases just
    plugging a board into your computer is not enough to power it and other
    peripherals.

  • Double check all soldering joints and connections. Flakey connections
    cause many mysterious problems. See the guide to excellent soldering for examples of good solder joints.

If you're sure this issue is a defect in the code and checked the steps above
please fill in the following fields to provide enough troubleshooting information.
You may delete the guideline and text above to just leave the following details:

• Platform/operating system (i.e. Raspberry Pi with Raspbian operating system,
  Windows 32-bit, Windows 64-bit, Mac OSX 64-bit, etc.): INSERT PLATFORM/OPERATING
  SYSTEM HERE

• Python version (run python -version or python3 -version): INSERT PYTHON
  VERSION HERE

• Error message you are receiving, including any Python exception traces: INSERT
  ERROR MESAGE/EXCEPTION TRACES HERE*

• List the steps to reproduce the problem below (if possible attach code or commands
  to run): LIST REPRO STEPS BELOW

I am using the stepper motor code provided in this library to drive a stepper motor using this AdaFruit HAT. Now this stepper motor requires a certain voltage i.e. 2V but I can't see in the code where this voltage or current are specified for the stepper motor? Why is this? Also can specify different voltages for 2 stepper motors connected to the same HAT? Again where is this in the Python code?

In Adafruit_MotorHAT module:

  if (stepstyle == Adafruit_MotorHAT.MICROSTEP):
     # this is an edge case, if we are in between full steps, lets just keep going
     # so we end on a full step
     while (lateststep != 0) and (lateststep != self.MICROSTEPS):
        lateststep = self.oneStep(dir, stepstyle)
        time.sleep(s_per_s)

dir refers to a built-in function: in this scope the correct variable name is direction. Once this change is made, the code works as it should.

Due to the bug: moving 2 steps back and 2 steps forward causes significant drift in every cycle - observable to the eye within 3-4 cycles.