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https://github.com/jcane86/motor-hat

Node Module to control Adafruits MotorHAT for the RaspberryPi
https://github.com/jcane86/motor-hat

javascript node node-js nodejs raspberry raspberry-pi raspberry-pi-3 raspberrypi stepper stepper-library stepper-motor

Last synced: about 1 month ago
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Node Module to control Adafruits MotorHAT for the RaspberryPi

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# 🏁 motor-hat 🎩



[![NPM version][npm-image]][npm-url] [![Build Status][travis-image]][travis-url] [![Dependency Status][daviddm-image]][daviddm-url] [![Coverage percentage][coveralls-image]][coveralls-url] [![semantic-release][semrel-image]][semrel-url] [![Commitizen friendly][commitizen-image]][commitizen-url]  [![Gitter badge](https://badges.gitter.im/motor-hat.png)](https://gitter.im/motor-hat)



> Node Module to control Adafruit's MotorHAT for the Raspberry Pi [http://jcane86.github.io/motor-hat](http://jcane86.github.io/motor-hat)



## Installation & Basic Usage



```sh

$ npm install --save motor-hat

```

```js

var motorHat = require('motor-hat')({steppers: [{ W1: 'M1', W2: 'M2' }]}).init();

motorHat.steppers[0].setSpeed({pps:100});

motorHat.steppers[0].step('back', 2048, (err, result) => {

  if (err) return console.log('Oh no, there was an error', err);

  console.log(`Did ${result.steps} steps ${result.dir} in ${result.duration/1000} seconds. I had to retry ${result.retried} steps because you set me up quicker than your poor board can handle.`); 

});

```



## DOCS



* See the full api here: [http://jcane86.github.io/motor-hat](http://jcane86.github.io/motor-hat)

* See it on GitHub here: [http://github.com/jcane86/motor-hat](http://github.com/jcane86/motor-hat)



## Notes about 2.0



Some changes will need to be made to transition to the async version of the library in 2.0:



Main library:

* Instance needs to be init()'d

* Servo and Stepper instances exposed in servos and steppers arrays are already init()'d.



DC Motors: 

* Methods are now async, and need a callback as last parameter.

* Old Sync methods remain, just call them as stopSync(), etc..

* Instance needs to be init()'d



Servo Motors:

* No changes, everything is still sync (I didn't feel it was necessary, feel free to open an issue or send a PR otherwise).



Stepper Motors:

* Most methods already had the Sync suffix. Only setFrequency is now setFrequencySync.

* Async methods added.

* Release and current methods added (actually in 1.3).

* Instance needs to be init()'d



## Advanced usage



```js

// get a motor-hat instance with the following initialized:

// * a non-default I2C address for the motor hat (default is 0x6F)

// * a stepper with winding one on 'M1' and winding two on 'M2' ports

// * a dc motor on port 'M4'

// * a servo on channel 0

// * a servo on channel 14

let spec = {

    address: 0x60,

    steppers: [{ W1: 'M1', W2: 'M2' }],

    dcs: ['M4'],

    servos: [0,14]

};

var motorHat = require('motor-hat')(spec);



// Since MotorHat 2.0, the instance needs to be initialized.

// This is to enable async initialization, feel free to open an issue if this is a pain.

motorHat.init();



// For steppers, set speed in rpm or pps (pulses per second) or sps (steps per second).

// To set it in rpm, set you steps/rev first (default 200)

// If you set it in pps, the speed will not be constant for different styles or number of microsteps.

motorHat.steppers[0].setSteps(2048);

motorHat.steppers[0].setSpeed({rpm:5});



// Move the motor one full turn fwds synchronously, one back async.

// step[Sync] and oneStep[Sync] take number of steps as input, 

// depending on selected style. To do 2048 full steps fwd (sync), 2048 back (async):

motorHat.steppers[0].stepSync('fwd', 2048);

motorHat.steppers[0].step('back', 2048, function(err, result) {

  if (err) {

    console.log('Oh no, there was an error');

  } else {

    // Move on..

  }

});

```



## Further configuration

```js

// Supported syles are 'single', 'double' (default), 'interleaved', and 'microstep'

motorHat.steppers[0].setStyle('microstep');

// Supported number of microsteps are 8 and 16 (8 by default)

motorHat.steppers[0].setMicrosteps(16);

// step[Sync] and oneStep[Sync] take number of steps/halfsteps/microsteps as input, 

// depending on selected style. To do 16 microsteps fwd:

motorHat.steppers[0].stepSync('back', 16);

// Set current at 50% to avoid overheating or to run at lower torques

motorHat.steppers[0].setCurrent(0.5);

// Release motor after moving it to avoid overheating or to let it move freely.

motorHat.steppers[0].release((err) => !err && console.log("IT'S FREE!!"));



// Calibrate the servo output. Pass in PWM frequency, position 0 pulse duration in ms,

// position 100 pulse duration in ms.

motorHat.servos[0].calibrate(50, 1, 2);

// Move to position 0

motorHat.servos[0].moveTo(0);

// Move to position 100

motorHat.servos[0].moveTo(100);



// Start dc motor forward (by default at 100% speed)

motorHat.dcs[0].runSync('fwd');

// Set DC motor speed to 50%

motorHat.dcs[0].setSpeedSync(50);

// reverse the dc motor to back direction

motorHat.dcs[0].runSync('back');

// stop the dc motor

motorHat.dcs[0].stopSync();

```



## As seen in

Some of our friends made cool stuff using motor-hat. Drop us a PR to add your project to this list.



 - [@joeljameswatson]( https://github.com/joeljameswatson ) : Laser Mandala, a really cool remote controlled lights show ([joeljameswatson/laser-mandala]( https://github.com/joeljameswatson/laser-mandala ))

## License



MIT © [J. Cane](https://www.github.com/jcane86)



[npm-image]: https://badge.fury.io/js/motor-hat.svg

[npm-url]: https://npmjs.org/package/motor-hat

[travis-image]: https://travis-ci.org/jcane86/motor-hat.svg?branch=master

[travis-url]: https://travis-ci.org/jcane86/motor-hat

[daviddm-image]: https://david-dm.org/jcane86/motor-hat.svg?theme=shields.io

[daviddm-url]: https://david-dm.org/jcane86/motor-hat

[coveralls-image]: https://img.shields.io/coveralls/jcane86/motor-hat/master.svg

[coveralls-url]: https://coveralls.io/github/jcane86/motor-hat?branch=master

[semrel-image]: https://img.shields.io/badge/%20%20%F0%9F%93%A6%F0%9F%9A%80-semantic--release-e10079.svg

[semrel-url]: https://github.com/semantic-release/semantic-release

[commitizen-image]: https://img.shields.io/badge/commitizen-friendly-brightgreen.svg

[commitizen-url]: http://commitizen.github.io/cz-cli/