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Motors

Eliobot motors topEliobot motors bottom

note

Eliobot's motors are powered directly by the battery, so they only work when the ignition button is in the ON position.

Use with Elioblocs​

To use Eliobot's motors on Elioblocs, we use blocks from the Movements category because these motors are what make Eliobot move.

Use with Python​

To use Eliobot motors in Python, you can use the functions available in the elio.py library.

The motors are connected to the following pins:

Left motorRight motor
IN1IO35IO36
IN2IO37IO38

Motors can be controlled in two ways: Digital or PWM

In digital operation we will only have the possibility of turning the motor in one direction or the other, and stopping it.

In PWM it will also be possible to modify the speed of the motor and make it go from 0% to 100% of its maximum speed.

To learn more about pwm: Wikipedia PWM

Elioblocs example​

Elioblocs movement example

Here, we use the movement category blocks to make Eliobot move forward if it does not detect an obstacle in front of it; otherwise, it turns right.

Python example​

With the elio.py library​

from elio import Eliobot
import board
import time
import digitalio
import analogio
import pwmio

vBatt_pin = analogio.AnalogIn(board.BATTERY)

obstacleInput = [analogio.AnalogIn(pin) for pin in
                 (board.IO4, board.IO5, board.IO6, board.IO7)]

lineCmd = digitalio.DigitalInOut(board.IO33)
lineCmd.direction = digitalio.Direction.OUTPUT

lineInput = [analogio.AnalogIn(pin) for pin in
               (board.IO10, board.IO11, board.IO12, board.IO13, board.IO14)]

AIN1 = pwmio.PWMOut(board.IO36)
AIN2 = pwmio.PWMOut(board.IO38)
BIN1 = pwmio.PWMOut(board.IO35)
BIN2 = pwmio.PWMOut(board.IO37)

buzzer = pwmio.PWMOut(board.IO17, variable_frequency=True)

elio = Eliobot(AIN1, AIN2, BIN1, BIN2, vBatt_pin, obstacleInput, buzzer, lineInput, lineCmd)

speed = 100


while True:
    if elio.get_obstacle(1):
        elio.turn_right(speed)

    else:
        elio.move_forward(speed)

In this example, Eliobot moves forward if he does not detect an obstacle in front of him, otherwise he turns right.

Without the bookstore elio.py​

import elio
import time
import board
import pwmio

# Configuration des pins
moteurDroit1 = pwmio.PWMOut(board.IO36)
moteurDroit2 = pwmio.PWMOut(board.IO38)
moteurGauche1 = pwmio.PWMOut(board.IO35)
moteurGauche2 = pwmio.PWMOut(board.IO37)

# Vitesse des moteurs
vitesse = 65535 # vitesses entre 0 et 65535

while True:
    if elio.getObstacle(1):
        moteurDroit1.duty_cycle = 0
        moteurDroit2.duty_cycle = vitesse
        moteurGauche1.duty_cycle = vitesse
        moteurGauche2.duty_cycle = 0

    else:
        moteurDroit1.duty_cycle = vitesse
        moteurDroit2.duty_cycle = 0
        moteurGauche1.duty_cycle = 0
        moteurGauche2.duty_cycle = vitesse

Same example as before, but without using the elio.py library.