Motor Control
Motor Control Development Kit
Motor Control Development Kit
RP2040-Driven Programming & Projects
Electric motors are found in countless Cytron’s Maker Pi RP2040 Develop-
Development Kit
electronic appliances and devices in
and around our homes. In these devic-
ment Board is an advanced system
based on the RP2040 processor and
RP2040-Driven Programming & Projects
es, motor controllers are used to ensure developed with motor control applica-
AC, Servo,
Teach Yourself DC, ontrol
efficient, safe, and accurate ways to tions in mind. The board comes with
govern the speed or the actuator posi- dual-channel brushed DC motor con-
C
tion of the motor(s) used. troller hardware, 4 servo motor ports,
and 7 Grove compatible I/O ports,
and Stepper Motor
Electric motors can be classified as ei- making it an ideal platform within mo-
ther DC or AC depending on the type bile robotics applications, for robot arm
of voltage used to control them. DC control, or in any other type of applica-
motors are the oldest type of electric tion requiring precise control of motors
motors and they are widely used by and actuators.
electronics developers both in home
labs and in schools and laboratories. This Elektor Guide includes numerous
Almost all printers, cameras, robots, projects using LEDs, a buzzer, an OLED
and CNC machines in consumer, com- display, an ADC converter, an ultrasonic
mercial, and industrial applications use sensor, PWM, and temperature and hu-
some kind of DC motor. AC motors on midity control. The main chapters cover
the other hand are used in many home DC motor control, servo motor control
appliances and tools as they can be and stepper motor control using the
powered directly from an AC power Maker Pi RP2040 Development Board
outlet. in creative and educational ways.
This Elektor Guide is the result of a unique collaboration
between the original hardware manufacturer and interna-
tional publisher Elektor International Media. We combine
fantastic, innovative hardware directly from the makers,
with Elektor’s 60+ years of unique experience in writing
educational projects and the knowledge needed to get
the best out of your purchase. We present a substantial
upgrade to the manual combined with some interesting
projects that will get you started right away. That’s what
we call an Elektor Guide, which is added to a kit to offer Elektor International Media
you the best of both worlds in one box. www.elektor.com
Enhanced Guide Made by Elektor
Motor Control
Development Kit
RP2040-Driven
Programming & Projects
Enhanced Guide Made by Elektor
Guide Motor Control Development Kit 230511 UK.indd 3 12-06-2023 10:16
● This is an Elektor Publication. Elektor is the media brand of
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Guide Motor Control Development Kit 230511 UK.indd 4 12-06-2023 10:16
Contents
Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 • RP2040 Processor Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 RP2040 hardware module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2.1 Pinout of the RP2040 processor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Other RP2040 microcontroller based boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Chapter 2 • The Maker Pi RP2040 Development Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2 The Maker Pi hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.2.1 Power input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.2 Pushbuttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.2.3 Piezo buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2.4 Programmable LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.2.5 RGB LED (NeoPixel) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.6 Servo motor ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.2.7 DC motor ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2.8 Debug port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2.9 Grove ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2.2.10 Motor test buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.2.11 Voltage specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Chapter 3 • Programming The Maker Pi Rp2040 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.2 The CircuitPython firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 The Mu text editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.3.1 Using the Mu text editor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.3.2 The demo program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.4 Your first program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Chapter 4 • Software-Only Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Chapter 5 • Simple LED Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
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5.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.2 Project 1: Flashing LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.3 Project 2: Flashing SOS signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.4 Project 3: All LEDs ON and OFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
5.5 Project 4: Binary counting LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.6 Project 5: Rotating LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.7 Project 6: Randomly flashing LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.8 Project 7: Rotating LEDs with pushbutton control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.9 Project 8: Reaction timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.10 Project 9: Two-player reaction game . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.11 Project 10: Using the on-board NeoPixel LEDs – showing different colors . . . . . . . . . . . . 62
5.12 Project 11: Using the on-board NeoPixel LEDs – flash both NeoPixels randomly . . . . . . 63
Chapter 6 • Simple Buzzer Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
6.2 Project 1: Playing the middle C tones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
6.3 Project 2: Using the buzzer as an audible sound indicator . . . . . . . . . . . . . . . . . . . . . . . . . . 66
6.4 Project 3: Playing a melody – Happy Birthday . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
6.5 Project 4: Frequency sweeping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Chapter 7 • Using OLED Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.2 Installing the SSD1306 driver software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
7.3 Hardware interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.4 Project 1: Displaying text on OLED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
7.5 Project 2: Displaying common shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
7.6 Project 3: Seconds counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
7.7 Project 4: Drawing bitmaps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Chapter 8 • Using Analog To Digital Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.2 Project 1: Voltmeter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.3 Project 2: Temperature measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
8.4 Project 3: ON/OFF temperature controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
8.5 Project 4: ON/OFF temperature controller with OLED display . . . . . . . . . . . . . . . . . . . . . . . 91
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Contents
8.6 Project 5: Measuring ambient light intensity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
8.7 Project 6: Ohmmeter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Chapter 9 • Pulse Width Modulation (PWM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
9.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
9.2 Basic theory of pulsewidth modulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
9.3 PWM channels of the Maker Pi RP2040 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
9.4 Project 1: Generate a 1000 Hz PWM waveform with 50% duty cycle . . . . . . . . . . . . . . . . 102
9.5 Project 2: Changing the brightness of an LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
9.6 Project 3: Alarm sound on buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
9.7 Project 4: Electronic organ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Chapter 10 • Ultrasonic Sensor Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
10.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
10.2 Project 1: Ultrasonic distance measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
10.3 Project 2: Ultrasonic distance measurement with OLED readout . . . . . . . . . . . . . . . . . . . 113
10.4 Project 3: Measuring the level of water in a tank . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
10.5 Project 4: Ultrasonic reverse parking aid with buzzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Chapter 11 •Temperature and Relative Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120
11.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
11.2 Project 1: Temperature and relative humidity measurement . . . . . . . . . . . . . . . . . . . . . . . . 120
11.3 Project 2: Temperature and relative humidity measurement with OLED . . . . . . . . . . . . . 122
Chapter 12 • DC Motor Control Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
12.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
12.2 Project 1: DC motor ON/OFF control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
12.3 Project 2: Two-speed DC motor rev control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
12.4 Project 3: Varying the motor speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
12.5 Project 4: Using two DC motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
12.6 Project 5: Changing the motor direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
12.7 Project 6: LDR-based motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
12.8 Project 7: Magnetic reed switch based motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
12.9 Project 8: Displaying the speed of a DC motor – using a rotary encoder . . . . . . . . . . . . 137
12.10 Project 9: Displaying the speed of a DC motor on OLED – using a rotary encoder . . . 145
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12.11 Project 10: Time response of the motor with the encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 148
12.12 Project 11: Measuring and displaying the motor speed using interrupts . . . . . . . . . . . . . 151
12.13 Project 12: Proportional+Integral+Derivative (PID) motor speed control . . . . . . . . . . . . 156
Chapter 13 • Servo Motor Control Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
13.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
13.2 Project 1: Servo motor control – turn to 0, 90, and 180 degrees positions . . . . . . . . . . . . 164
13.3 Project 2: Using two servo motors – turn to 0, 90, and 180 degrees positions . . . . . . . . 167
13.4 Project 3: Ultrasonic sonar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Chapter 14 • Stepper Motor Control Projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
14.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
14.1.1 Unipolar stepper motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
14.1.2 Bipolar stepper motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
14.1.3 Speed of a stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
14.1.4 Movement of the motor shaft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
14.1.5 Motor rotation time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
14.2 Project 1: Basic stepper motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
14.3 Project 2: Thermometer with dial . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Guide Motor Control Development Kit 230511 UK.indd 8 12-06-2023 10:16
Contents
Squares and cubes 35
squares of numbers 31
SSD1306 70
SSD1306 driver library 70
Status indicator 15
step change 148
Stepper motors 174
Surface area 29
SWD 21
T
Tachometer 143
Temperature measurement 84
temperature scale 183
Thonny IDE 153
Thonny text editor 153
time constant 148
Time response 148
timer interrupts 142
TMP36 85
Triangle 74
Trigonometric function 33
trigonometric sine 32
truth table 126
U
Ultrasonic Sensor 109
Unipolar stepper motors 174
V
volume 31
X
XY coordinates 70
191
Guide Motor Control Development Kit 230511 UK.indd 191 12-06-2023 10:16
Motor Control
Motor Control Development Kit
Motor Control Development Kit
RP2040-Driven Programming & Projects
Electric motors are found in countless Cytron’s Maker Pi RP2040 Develop-
Development Kit
electronic appliances and devices in
and around our homes. In these devic-
ment Board is an advanced system
based on the RP2040 processor and
RP2040-Driven Programming & Projects
es, motor controllers are used to ensure developed with motor control applica-
AC, Servo,
Teach Yourself DC, ontrol
efficient, safe, and accurate ways to tions in mind. The board comes with
govern the speed or the actuator posi- dual-channel brushed DC motor con-
C
tion of the motor(s) used. troller hardware, 4 servo motor ports,
and 7 Grove compatible I/O ports,
and Stepper Motor
Electric motors can be classified as ei- making it an ideal platform within mo-
ther DC or AC depending on the type bile robotics applications, for robot arm
of voltage used to control them. DC control, or in any other type of applica-
motors are the oldest type of electric tion requiring precise control of motors
motors and they are widely used by and actuators.
electronics developers both in home
labs and in schools and laboratories. This Elektor Guide includes numerous
Almost all printers, cameras, robots, projects using LEDs, a buzzer, an OLED
and CNC machines in consumer, com- display, an ADC converter, an ultrasonic
mercial, and industrial applications use sensor, PWM, and temperature and hu-
some kind of DC motor. AC motors on midity control. The main chapters cover
the other hand are used in many home DC motor control, servo motor control
appliances and tools as they can be and stepper motor control using the
powered directly from an AC power Maker Pi RP2040 Development Board
outlet. in creative and educational ways.
This Elektor Guide is the result of a unique collaboration
between the original hardware manufacturer and interna-
tional publisher Elektor International Media. We combine
fantastic, innovative hardware directly from the makers,
with Elektor’s 60+ years of unique experience in writing
educational projects and the knowledge needed to get
the best out of your purchase. We present a substantial
upgrade to the manual combined with some interesting
projects that will get you started right away. That’s what
we call an Elektor Guide, which is added to a kit to offer Elektor International Media
you the best of both worlds in one box. www.elektor.com
Enhanced Guide Made by Elektor
