Dc-motor

L293D motor driver

Pin Function Connect to VS Supply voltage Bat positive, power supply for motor VSS Logic Supply Voltage Bat on the RaspberryPi (5V) GND Ground Ground on RaspberryPi and Battery Enable 1/2 Enable Outputs GPIO pins on RaspberryPi Input 1/2/3/4 Logic Inputs GPIO pins on RaspberryPi Output 1/2/3/4 Power Outputs Connect to motors

Diagram

Code

import RPi.GPIO as GPIO
from time import sleep
 
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

Motor1 = {'EN': 17, 'input1': 27, 'input2': 22}

for x in Motor1:
    GPIO.setup(Motor1[x], GPIO.OUT)

EN1 = GPIO.PWM(Motor1['EN'], 100)    
EN1.start(0)                    

while True:
    for x in range(40, 100):
        print ("FORWARD MOTION")
        EN1.ChangeDutyCycle(x)

        GPIO.output(Motor1['input1'], GPIO.HIGH)
        GPIO.output(Motor1['input2'], GPIO.LOW)
        
        sleep(0.1)
   
    print ("STOP")
    EN1.ChangeDutyCycle(0)

    sleep(5)
     
    for x in range(40, 100):
        print ("BACKWARD MOTION")
        EN1.ChangeDutyCycle(x)
        
        GPIO.output(Motor1['input1'], GPIO.LOW)
        GPIO.output(Motor1['input2'], GPIO.HIGH)

        sleep(0.1)
     
    print ("STOP")
    EN1.ChangeDutyCycle(0)

    sleep(5)

GPIO.cleanup()