uln2003 module

This uln2003 module implements a ULN2003, used for low-current and low-precision applications using the rdk:component:motor API. It supports full, half, and quarter stepping with 4096 steps in a rotation in full-step mode.

Note

Before configuring your motor, you must create a machine.

Navigate to the CONFIGURE tab of your machine in the Viam app. Add motor / uln2003:28byj-48 to your machine.

Configure your 28byj-48 motor

On the new component panel, copy and paste the following attribute template into your motor's attributes field:

{
  "board": "<your-board-name>",
  "pins": {
    "in1": "<pin-number>",
    "in2": "<pin-number>",
    "in3": "<pin-number>",
    "in4": "<pin-number>"
  },
  "ticks_per_rotation": <int>,
  "step_mode": "<half|full>"
}

Attributes

The following attributes are available for viam:uln2003:28byj-48 motors:

Attribute	Type	Required?	Description
board	string	Required	name of the board the motor driver is wired to.
pins	object	Required	A JSON object containing the pin numbers the in1, in2, in3, and in4 pins of the motor driver are wired to on the board.
ticks_per_rotation	int	Required	Number of half steps in a rotation. The motor takes 5.625*(1/64)° per step. One full rotation (360°) is 4096 steps.
step_mode	string	Optional	Full (4 step) or Half (8 step) mode. Valid values: "full" or "half". Full mode is recommended for higher speeds. Adjust ticks_per_rotation accordingly. (default: "half")

Refer to your motor and motor driver data sheets for specifics.

Example configuration

  {
    "board": "example-board",
    "pins": {
      "in1": "11",
      "in2": "12",
      "in3": "13",
      "in4": "15"
    },
    "ticks_per_rotation": 2048,
    "step_mode": "full"
  }

Next Steps

• To test your motor, expand the TEST section of its configuration pane or go to the CONTROL tab.
• To write code against your motor, use one of the available SDKs.
• To view examples using a motor component, explore these tutorials.