View source for Adafruit Stepper DC Motor FeatherWing (I2C)

[[Image:TArduinoAdafruitMotorFeatherWing.png]]

== Summary ==  
Provides DC motor and stepper motor control using the Adafruit FeatherWing board based on PCA9685 via I2C.

== Description ==  
The **Adafruit Stepper + DC Motor FeatherWing** allows control of up to **4 DC motors** or **2 stepper motors** using I2C communication.  
It is based on the PCA9685 16-channel PWM driver and TB6612 MOSFET drivers.  
Each motor driver has configurable slope control, initial values, and enable states.  

<b>Diagram:</b>  

[[Image:TArduinoAdafruitMotorFeatherWing.Preview.png]]
 

== Properties ==  
* '''Address''' (i2c) – I2C address of the FeatherWing.  
* '''PWM Frequency''' (Hz, default 1600) – Base PWM frequency.  
* '''Sleep''' (boolean) – Enable/disable low-power sleep mode.  

=== Driver Properties ===  

==== Driver 1 ====  
{| class="wikitable"
! Motor
! Property
! Type
! Default
|-
| rowspan="4" | Motor1
| Enabled || boolean || false
|-
| Initial Value || analog (0.0–1.0) || 0.5
|-
| Slope Run || analog || 0
|-
| Slope Stop || analog || 0
|-
| rowspan="4" | Motor2
| Enabled || boolean || false
|-
| Initial Value || analog (0.0–1.0) || 0.5
|-
| Slope Run || analog || 0
|-
| Slope Stop || analog || 0
|}

==== Driver 2 ====  
{| class="wikitable"
! Motor
! Property
! Type
! Default
|-
| rowspan="4" | Motor1
| Enabled || boolean || false
|-
| Initial Value || analog (0.0–1.0) || 0.5
|-
| Slope Run || analog || 0
|-
| Slope Stop || analog || 0
|-
| rowspan="4" | Motor2
| Enabled || boolean || false
|-
| Initial Value || analog (0.0–1.0) || 0.5
|-
| Slope Run || analog || 0
|-
| Slope Stop || analog || 0
|}

== Pins ==  

=== Driver Pins ===  
{| class="wikitable"
! Driver
! Motor
! Pin
! Direction
! Type
|-
| Driver1 || Motor1 || In || In || analog
|-
| Driver1 || Motor2 || In || In || analog
|-
| Driver2 || Motor1 || In || In || analog
|-
| Driver2 || Motor2 || In || In || analog
|}

=== Control Pins ===  
{| class="wikitable"
! Pin
! Direction
! Type
! Description
|-
| Interface || I/O || i2c || I2C communication
|}

== Categories ==  
*[[Image:TArduinoMotorsCategory.png]] [[Category Motors]] – Controls DC motors and steppers.  
*[[Image:TArduinoI2CCategory.png]] [[Category I2C]] – Communicates using I2C protocol.  
*[[Image:TArduinoPWMsCategory.png]] [[Category PWM]] – Uses PWM for motor control. 

[[Category:Components]]