diff --git a/books/beaglebone-cookbook/04motors/motors.rst b/books/beaglebone-cookbook/04motors/motors.rst
index 9bfc351f2ca3d45309246f199a22fd9fc45d3a96..0879e86ca56d259fcca805012fc64bb9397f54fa 100644
--- a/books/beaglebone-cookbook/04motors/motors.rst
+++ b/books/beaglebone-cookbook/04motors/motors.rst
@@ -7,11 +7,11 @@ Motors
.. |ohm| replace:: Ω
-.. |deg| replace:: °
-
-.. todo
- Figure out degrees
-
+.. |deg| replace:: °
+
+.. todo
+ Figure out degrees
+
One of the many fun things about embedded computers is that you can move physical things with motors.
But there are so many different kinds of motors (``servo``, ``stepper``, ``DC``), so how do you select the right one?
@@ -19,10 +19,10 @@ The type of motor you use depends on the type of motion you want:
- R/C or hobby servo motor
Can be quickly positioned at various absolute angles, but some don't spin. In fact, many can turn only about 180{deg}.
-- Stepper motor
- Spins and can also rotate in precise relative angles, such as turning 45°. Stepper motors come in two types: ``bipolar`` (which has four wires) and ``unipolar`` (which has five or six wires).
-- DC motor
- Spins either clockwise or counter-clockwise and can have the greatest speed of the three. But a DC motor can't easily be made to turn to a given angle.
+- Stepper motor
+ Spins and can also rotate in precise relative angles, such as turning 45°. Stepper motors come in two types: ``bipolar`` (which has four wires) and ``unipolar`` (which has five or six wires).
+- DC motor
+ Spins either clockwise or counter-clockwise and can have the greatest speed of the three. But a DC motor can't easily be made to turn to a given angle.
When you know which type of motor to use, interfacing is easy. This chapter shows how to interface with each of these motors.
@@ -38,7 +38,7 @@ When you know which type of motor to use, interfacing is easy. This chapter show
.. note::
All the examples in the book assume you have cloned the Cookbook repository on
- git.beagleboard.org. Go here :ref:`basics_repo` for instructions.
+ git.beagleboard.org. Go here :ref:`basics_repo` for instructions.
.. _motors_servo:
@@ -87,25 +87,33 @@ in :ref:`py_servoMotor_code`. You need to configure the pin for PWM.
.. code-block:: bash
- bone$ cd ~/beaglebone-cookbook-code/04motors
- bone$ config-pin P9_16 pwm
- bone$ ./servoMotor.py
+ bone$ cd ~/beaglebone-cookbook-code/04motors
+ bone$ config-pin P9_16 pwm
+ bone$ ./servoMotor.py
-.. _py_servoMotor_code:
+.. tabs::
-.. literalinclude:: ../code/04motors/servoMotor.py
- :caption: Code for driving a servo motor (servoMotor.py)
- :linenos:
+ .. group-tab:: Python
-:download:`servoMotor.py <../code/04motors/servoMotor.py>`
+ .. _py_servoMotor_code:
-.. _motors_servoMotor_code:
+ .. literalinclude:: ../code/04motors/servoMotor.py
+ :caption: Code for driving a servo motor (servoMotor.py)
+ :language: Python
+ :linenos:
-.. literalinclude:: ../code/04motors/servoMotor.js
- :caption: Code for driving a servo motor (servoMotor.js)
- :linenos:
+ :download:`servoMotor.py <../code/04motors/servoMotor.py>`
+
+ .. group-tab:: JavaScript
+
+ .. _motors_servoMotor_code:
-:download:`servoMotor.js <../code/04motors/servoMotor.js>`
+ .. literalinclude:: ../code/04motors/servoMotor.js
+ :caption: Code for driving a servo motor (servoMotor.js)
+ :language: JavaScript
+ :linenos:
+
+ :download:`servoMotor.js <../code/04motors/servoMotor.js>`
Running the code causes the motor to move back and forth, progressing to successive
@@ -127,10 +135,10 @@ Combine the code from :ref:`digital_rotaryEncoder_js` and :ref:`motors_servo`.
.. code-block:: bash
- bone$ config-pin P9_16 pwm
- bone$ config-pin P8_11 eqep
- bone$ config-pin P8_12 eqep
- bone$ ./servoEncoder.py
+ bone$ config-pin P9_16 pwm
+ bone$ config-pin P8_11 eqep
+ bone$ config-pin P8_12 eqep
+ bone$ ./servoEncoder.py
.. _py_servoEncoder_code:
@@ -158,7 +166,7 @@ but it won't. Most motors require more current than the GPIO ports on the Bone
Our solution is to use a transistor to control the current to the bone.
Here we configure the encoder to returns value between 0 and 180 inclusive. This value is then
-mapped to a value between *min* (0.6 ms) and *max* (2.5 ms). This number is converted from
+mapped to a value between *min* (0.6 ms) and *max* (2.5 ms). This number is converted from
milliseconds and nanoseconds (time 1000000) and sent to the servo motor via the pwm.
@@ -184,23 +192,31 @@ Wire your breadboard as shown in :ref:`motors_dcMotor_fig`.
Wiring a DC motor to spin one direction
-Use the code in :ref:`motors_dcMotor_code` (``dcMotor.js``) to run the motor.
+Use the code in :ref:`py_dcMotor_code` to run the motor.
-.. _py_dcMotor_code:
+.. tabs::
-.. literalinclude:: ../code/04motors/dcMotor.py
- :caption: Driving a DC motor in one direction (dcMotor.py)
- :linenos:
+ .. group-tab:: Python
-:download:`dcMotor.py <../code/04motors/dcMotor.py>`
+ .. _py_dcMotor_code:
-.. _motors_dcMotor_code:
+ .. literalinclude:: ../code/04motors/dcMotor.py
+ :caption: Driving a DC motor in one direction (dcMotor.py)
+ :language: Python
+ :linenos:
-.. literalinclude:: ../code/04motors/dcMotor.js
- :caption: Driving a DC motor in one direction (dcMotor.js)
- :linenos:
+ :download:`dcMotor.py <../code/04motors/dcMotor.py>`
+
+ .. group-tab:: JavaScript
+
+ .. _motors_dcMotor_code:
+
+ .. literalinclude:: ../code/04motors/dcMotor.js
+ :caption: Driving a DC motor in one direction (dcMotor.js)
+ :language: JavaScript
+ :linenos:
-:download:`dcMotor.js <../code/04motors/dcMotor.js>`
+ :download:`dcMotor.js <../code/04motors/dcMotor.js>`
See Also
=========
@@ -323,12 +339,12 @@ Wire, as shown in :ref:`motors_unipolar_fig`.
The IC in :ref:`motors_unipolar_fig` is illustrated
upside down from the way it is usually displayed.
- That is, the notch for pin 1 is on the bottom. This made drawing the diagram much cleaner.
+ That is, the notch for pin 1 is on the bottom. This made drawing the diagram much cleaner.
- Also, notice the ``banded`` wire running the *P9_7* (5 V) to the UL2003A.
- The stepper motor I'm using runs better at 5 V, so I'm using the Bone's 5 V power supply.
- The signal coming from the GPIO pins is 3.3 V, but the U2003A will step them up to 5 V to drive
- the motor.
+ Also, notice the ``banded`` wire running the *P9_7* (5 V) to the UL2003A.
+ The stepper motor I'm using runs better at 5 V, so I'm using the Bone's 5 V power supply.
+ The signal coming from the GPIO pins is 3.3 V, but the U2003A will step them up to 5 V to drive
+ the motor.
.. _motors_unipolar_fig:
@@ -362,4 +378,4 @@ so :ref:`motors_unistepperMotor_code` shows only the lines that you need to chan
The code in this example makes the following changes:
* The *states* are different. Here, we have two pins high at a time.
-* The time between steps (*ms*) is shorter, and the number of steps per direction (*max*) is bigger. The unipolar stepper I'm using has many more steps per rotation, so I need more steps to make it go around.
+* The time between steps (*ms*) is shorter, and the number of steps per direction (*max*) is bigger. The unipolar stepper I'm using has many more steps per rotation, so I need more steps to make it go around.