Datasheet

the GND terminal on the Motor HAT output block. then coil 1 should connect to one motor

port (say M1 or M3) and coil 2 should connect to the other motor port (M2 or M4).

For bipolar motors: its just like unipolar motors except theres no 5th wire to connect to

ground. The code is exactly the same.

For this demo, please connect it to M1 and M2

Now go into the Adafruit-Motor-HAT-Python/examples folder and run sudo python

StepperTest.py to watch your stepper motor spin back and forth.

Stepper motor control walkthru

Here's a walkthru of the code which shows you everything the MotorHAT library can do and

how to do it.

Start with importing at least these libraries:

#!/usr/bin/python

from Adafruit_MotorHAT import Adafruit_MotorHAT, Adafruit_DCMotor, Adafruit_StepperMotor

import time

import atexit

The MotorHAT library contains a few different classes, one is the MotorHAT class itself

which is the main PWM controller. You'll always need to create an object, and set the

address. By default the address is 0x60 (see the stacking HAT page on why you may want

to change the address)

# create a default object, no changes to I2C address or frequency

mh = Adafruit_MotorHAT(addr = 0x60)

Even though this example code does not use DC motors, it's still important to note that the

PWM driver is 'free running' - that means that even if the python code or Pi linux kernel

crashes, the PWM driver will still continue to work. This is good because it lets the Pi focus

on linuxy things while the PWM driver does its PWMy things.

Stepper motors will not continue to move when the Python script quits, but it's still strongly

recommend that you keep this 'at exit' code, it will do its best to shut down all the motors:

# recommended for auto-disabling motors on shutdown!

def turnOffMotors():

mh.getMotor(1).run(Adafruit_MotorHAT.RELEASE)

mh.getMotor(2).run(Adafruit_MotorHAT.RELEASE)

mh.getMotor(3).run(Adafruit_MotorHAT.RELEASE)

https://learn.adafruit.com/adafruit-dc-and-stepper-motor-hat-for-

raspberry-pi

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