Atomic Motion Base
============================

.. sku: A090

.. include:: ../refs/base.motion.ref

Atomic Motion Base is a servo and DC motor driver designed specifically for the ATOM series controllers. It integrates an STM32 control chip internally and uses I2C communication for control. Atomic Motion Base provides 4 servo channels and 2 DC motor interfaces, offering convenience for scenarios that require control of multiple servos or motor drivers, such as multi-axis servo robotic arms or small car motor control.

Atomic Motion Base v1.1 adds INA226 to implement current and voltage detection.

Support the following products:

    ================== ==================
    |Motion|           |Motion Base v1.1|
    ================== ==================


UiFlow2 Example:
--------------------------

Motion Base
^^^^^^^^^^^^^^^^^^^^^^^^

Open the |atoms3_lite_motion_base_example.m5f2| project in UiFlow2.

This example controls the servo to rotate to a specified angle and sets the motor to rotate.

UiFlow2 Code Block:

    |example.png|

Example output:

    None

Motion Base v1.1
^^^^^^^^^^^^^^^^^^^^^^^^

Open the |atoms3_motion_base_v1.1_example.m5f2| project in UiFlow2.

The example program switches the motor's running speed when the screen button is pressed, and the screen displays the current, voltage, and power.

UiFlow2 Code Block:

    |motion_base_v1.1_example.png|

Example output:

    None

MicroPython Example:
--------------------------

Motion Base
^^^^^^^^^^^^^^^^^^^^^^^^

This example controls the servo to rotate to a specified angle and sets the motor to rotate.

MicroPython Code Block:

    .. literalinclude:: ../../../examples/base/motion/atoms3_lite_motion_base_example.py
        :language: python
        :linenos:

Example output:

    None

Motion Base v1.1
^^^^^^^^^^^^^^^^^^^^^^^^

The example program switches the motor's running speed when the screen button is pressed, and the screen displays the current, voltage, and power.

MicroPython Code Block:

    .. literalinclude:: ../../../examples/base/motion/atoms3_motion_base_v1.1_example.py
        :language: python
        :linenos:

Example output:

    None


**API**
--------------------------

Motion
^^^^^^^^^^^^^^^^^^^^^^^^

.. class:: base.motion.Motion(i2c, address=0x38)

    Create an Motion object.

    :param I2C i2c: The I2C port to use.
    :param int address: The device address. Default is 0x38.

    UiFlow2 Code Block:

        |__init__.png|

    MicroPython Code Block:

        .. code-block:: python

            from base import Motion
            from machine import I2C

            i2c0 = I2C(0, scl=Pin(39), sda=Pin(38), freq=100000)
            motion = Motion(i2c0, 0x38)

    .. method:: get_servo_angle(ch)

        Get the angle of the servo.

        :param int ch: The servo channel. Range: 1~4.
        :returns: Specify the servo angle for the specified channel. Range: 0~180.
        :rtype: int

        UiFlow2 Code Block:

            |get_servo_angle.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.get_servo_angle()

    .. method:: set_servo_angle(ch, angle)

        Set the angle of the servo.

        :param int ch: The servo channel. Range: 1~4.
        :param int angle: The servo angle. Range: 0~180.

        UiFlow2 Code Block:

            |set_servo_angle.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.set_servo_angle()

    .. method:: get_servo_pulse(ch)

        Get the pulse of the servo.

        :param int ch: The servo channel. Range: 1~4.
        :returns: Specify the servo pulse for the specified channel. Range: 500~2500.
        :rtype: int

        UiFlow2 Code Block:

            |get_servo_pulse.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.get_servo_pulse()

    .. method:: write_servo_pulse(ch, pulse)

        Write the pulse of the servo.

        :param int ch: The servo channel. Range: 1~4.
        :param int pulse: The servo pulse. Range: 500~2500.

        UiFlow2 Code Block:

            |write_servo_pulse.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.write_servo_pulse()

    .. method:: get_motor_speed(ch)

        Get the speed of the motor.

        :param int ch: The motor channel. Range: 1~2.
        :returns: Specify the speed for the specified channel. Range: -127~127.
        :rtype: int

        UiFlow2 Code Block:

            |get_motor_speed.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.get_motor_speed()

    .. method:: set_motor_speed(ch, speed)

        Set motor speed.

        :param int ch: The motor channel. Range: 1~2.
        :param int speed: The motor speed. Range: -127~127.

        UiFlow2 Code Block:

            |set_motor_speed.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.set_motor_speed()

    .. method:: read_voltage()

        Read voltage (unit: V).

        :returns: The voltage value in volts.
        :rtype: float

        .. note::
            This method is supported only on Motion Base v1.1 and later versions.

        UiFlow2 Code Block:

            |read_voltage.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.read_voltage()

    .. method:: read_current()

        Read current (unit: A).

        :returns: The current value in amperes.
        :rtype: float

        .. note::
            This method is supported only on Motion Base v1.1 and later versions.

        UiFlow2 Code Block:

            |read_current.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.read_current()

    .. method:: read_power()

        Read power (unit: W).

        :returns: The power value in watts.
        :rtype: float

        .. note::
            This method is supported only on Motion Base v1.1 and later versions.

        UiFlow2 Code Block:

            |read_power.png|

        MicroPython Code Block:

            .. code-block:: python

                motion.read_power()