6. BitBotXL motors

Pins for the motors are below.

Pin	Purpose
pin16	Left Motor
pin8	Left Motor Backwards
pin14	Right Motor
pin12	Right Motor Backwards

6.1. Set up the buggy

class BitBotXLMotors

Set up the buggy motors for use.

Use buggy = BitBotXL.BitBotXLMotors() to be able to use the motor methods on the buggy.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

6.2. Duration parameter

The Buggy methods that drive the motors have a duration parameter.
The duration parameter specifies how long the motor runs for.
The default duration is None. If the duration is None or is not specified the motor will run continuously until another command is sent to it.
e.g. using the duration parameter: buggy.forwards(10, duration=5000)  the buggy stops after 5 sec.
e.g. not using the duration parameter: buggy.forwards(10) the buggy runs forwards continuously.

6.3. Independent motor control

The left and right motors can be controlled independently using the four methods below:
left_motor(speed=1, duration=None) runs the left motor.
right_motor(speed=1, duration=None) runs the right motor.
stop_left() stops the left motor.
stop_right() stops the right motor.

6.3.1. left_motor

left_motor(speed=1, duration=None): Make the left motor run.

speed values are integers or floats (decimals) from -10 to 10.

Default speed is 1.

If speed < 0 the motor turns the wheel backwards.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping.

left_motor() and left_motor(1) and left_motor(speed=1) all set the speed to 1.

left_motor(2, 1000) and left_motor(2, duration=1000) and left_motor(speed=2, duration=1000) all run the left motor at speed to 2 for 1 sec.

The code below, using left_motor(5), runs the left motor at about half speed.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.left_motor(5)

The code below, using left_motor(2, 5000), runs the left motor at speed 2 for 5 sec.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.left_motor(2, 5000)

6.3.2. right_motor

right_motor(speed=1, duration=None): Make the right motor run.

speed values are integers or floats (decimals) from -10 to 10.

Default speed is 1.

If speed < 0 the motor turns the wheel backwards.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping.

right_motor() and right_motor(1) and right_motor(speed=1) all set the speed to 1.

right_motor(2, 1000) and right_motor(2, duration=1000) and right_motor(speed=2, duration=1000) all run the right motor at speed 2 for 1sec.

The code below, using right_motor(speed=4, duration=3000), runs the right motor at speed 4 for 3 sec.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.right_motor(speed=4, duration=3000)

The code below, using right_motor(-10), runs the right motor backwards at full speed.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.right_motor(-10)

6.3.3. stop_left

stop_left(): Stop the left motor.

The code below runs the left motor continuously, but after 1 sec, it stops it.

The motor keeps running during the sleep.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.left_motor()
sleep(1000)
buggy.stop_left()

6.3.4. stop_right

stop_right(): Stop the right motor.

The code below runs the right motor at speed 4, then after 2 sec, stops it.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.right_motor(4)
sleep(2000)
buggy.stop_right()

6.4. Stop both motors

stop(): Stop both motors.

The code below runs the left motor at speed 5 and the right motor at speed 2, then after 1500ms stops them both.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.left_motor(5)
buggy.right_motor(2)
sleep(1500)
buggy.stop()

Tasks

Write code to drive the left motor at speed 2 for 1 second, stop it, run the right motor at speed 2 for 1 sec then stop it.
Write code to drive the right motor at speed 3 while the left motor runs at speed 2 for 3 sec then stop it.
Write code to drive the left motor at speed 3 while the right motor runs at speed 2 for 3 sec then stop it.
Write code that drives the left side faster than the right side then the right side faster the left side so that it zig zags for 5 sec then stop it.
Write code so that the buggy repetitively zig zags forwards for 5 zigs and zags then backwards for 5 zigs and zags.
Modify the zig zag code so that it uses variables for the 2 motor speeds, the number of zig zags forwards and backward, and the time for each zig and zag.

6.5. Straight line control

The left and right motors can be run so that the buggy moves forwards or backwards:
forwards(speed=1, duration=None)
backwards(speed=1, duration=None)

6.5.1. forward

forwards(speed=1, duration=None): Drive the buggy forward.

speed values are integers or floats (decimals) from 0 to 10.

Default speed is 1.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping.

forwards(10, None) and forwards(speed=10) both set the speed to 10.

The code below drives the buggy forwards at speed 10 for 5 secs.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.forwards(speed=10, duration=5000)

6.5.2. backward

backwards(speed=1, duration=None): Drive the buggy backwards.

speed values are integers or floats (decimals) from 0 to 10.

Default speed is 1.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping.

backwards(10, None) and backwards(speed=10) both set the speed to 10.

The code below drives the buggy backwards at speed 8 for 4 secs.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.backwards(8, 4000)

Tasks

Write code to drive the buggy forward at max speed for 2 sec, stop for 2 sec then repeat.
Write code to drive the buggy forwards and backwards at max speed for 2 sec each, then repeat.

6.6. Turning

The left and right motors are adjusted to turn the buggy with a given tightness:
left(speed=1, tightness=2, duration=None)
right(speed=1, tightness=2, duration=None)
When turning left, the left wheel is slowed based on the tightness value.
When turning right, the right wheel is slowed based on the tightness value.
The turning tightness is a ratio of the motor speed on one side compared to the other.

6.6.1. left

left(speed=1, tightness=2, duration=None): Drive the buggy to the left.

speed values are integers or floats (decimals) from -10 to 10.

speed values above 0 drive the buggy forwards to the left.

speed values below 0 drive the buggy backwards to the left.

Default speed is 1.

tightness values are best between 1 and 10.

Default tightness is 2 (speed ratio).

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping, until another command is sent to the motor.

left() and left(1, 2) and left(speed=1, tightness=2) all set the speed to 1 with a left turn of tightness 2.

left(2, 4, 1000) and left(2, tightness=4, duration=1000) and left(speed=2, tightness=4, duration=1000) all set the speed to 2 with a left turn of tightness 4 for 1sec.

The code below, left(speed=3, tightness=4, duration=4000), drives the buggy forwards at speed 3 while it turns left in a curved path of approximate tightness 4 for 4 secs.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.left(speed=3, tightness=4, duration=4000)

Tasks

Write code to drive the buggy to the left at speed 2 in small circles.
Write code to drive the buggy to the left at speed 5 in medium circles.
Write code to drive the buggy to the left at speed 8 in increasing circles for 5 seconds each. Use a for-loop and a list of tightness values.

6.6.2. right

right(speed=1, tightness=2, duration=None): Drive the buggy to the right.

speed values are integers or floats (decimals) from -10 to 10.

speed values above 0 drive the buggy forwards to the right.

speed values below 0 drive the buggy backwards to the right.

Default speed is 1.

tightness values are best between 1 and 10.

Default tightness is 2.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping, until another command is sent to the motor.

right() and right(1, 2) and right(speed=1, tightness=2) all set the speed to 1 with tightness 2.

right(2, 4, 1000) and right(2, tightness=4, duration=1000) and right(speed=2, tightness=4, duration=1000) all set the speed to 2 with a right turn of tightness 4 for 1sec.

The code below, right(speed=2, tightness=4, duration=3000), drives the buggy forwards at speed 2 while it turns right in a circular path of tightness 4 for 3 secs.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.right(speed=2, tightness=4, duration=3000)

Tasks

Write code to drive the buggy to the right at speed 4 in small circles.
Write code to drive the buggy to the right at speed 7 in medium circles.
Write code to drive the buggy to the right at speed 10 in circles of increasing size. Use a range function to decrease the tightness every 4 seconds from 10 to 1 in steps of 2.

6.7. Spinning

Spin the buggy to the left or right at the chosen speed using:
spin_left(speed=1, duration=None)
spin_right(speed=1, duration=None)
When spinning left, the left wheel goes backwards while the right wheel goes forward.
When spinning right, the right wheel goes backwards while the left wheel goes forward.

spin_left(speed=1, duration=None): Spin the buggy on the spot, to the left.

speed values are integers or floats (decimals) from 0 to 10.

Default speed is 1.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping, until another command is sent to the motor.

spin_left() and spin_left(1) and spin_left(speed=1) all spin the buggy to the left at speed 1.

spin_left(3, 2000) and spin_left(3, duration=2000) and spin_left(speed=3, duration=2000) all spin the buggy to the left at speed 3 for 2 secs.

spin_right(speed=1, duration=None): Spin the buggy on the spot, to the right.

speed values are integers or floats (decimals) from 0 to 10.

Default speed is 1.

duration values are integers above 0.

Default duration is None.

The motor will stop after a given duration in milliseconds.

If the duration is None, the motor runs without stopping, until another command is sent to the motor.

The code below, spin_right(2, 4000), spins the buggy to the right at speed 2 for 4 secs.

from microbit import *
import BitBotXL


# setup buggy
buggy = BitBotXL.BitBotXLMotors()

buggy.spin_right(2, 4000)

Tasks

Write code to spin the buggy to the left at speed 4 for 5 seconds.
Write code to spin the buggy to the right at speed 6 for 3 seconds.
Write code to spin the buggy to the left for 3 seconds then to right for 3 seconds at speed 6.
Write code to drive the buggy in a polygonal path (many straight sides) by combining short drives forwards with short spins.