# 控制馬達正反轉基礎

使用樹莓派配合L298N橋式晶片來控制馬達正轉（前進）或是反轉（後退）是很容易的一件事，雖然容易，但卻是後續巡跡、避障等的基礎，讓我們來學學如何控制馬達運轉吧！

{% embed url="<https://youtu.be/dg1tcc6pNIA>" %}

```python
import time
import RPi.GPIO as GPIO

GPIO.setmode(GPIO.BCM)

ENA = 13
IN1 = 19
IN2 = 16
ENB = 20
IN3 = 21
IN4 = 26

GPIO.setup(ENA, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(ENB, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN1, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN2, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN3, GPIO.OUT, initial=GPIO.LOW)
GPIO.setup(IN4, GPIO.OUT, initial=GPIO.LOW)

def Motor_Forward():
    print('motor forward')
    GPIO.output(ENA, True)
    GPIO.output(ENB, True)
    GPIO.output(IN1, True)
    GPIO.output(IN2, False)
    GPIO.output(IN3, True)
    GPIO.output(IN4, False)

def Motor_Stop():
    print('motor stop')
    GPIO.output(ENA, True)
    GPIO.output(ENB, True)
    GPIO.output(IN1, False)
    GPIO.output(IN2, False)
    GPIO.output(IN3, False)
    GPIO.output(IN4, False)

while True:
    GPIO.setwarnings(False)
    Motor_Forward()
    time.sleep(3)
    Motor_Stop()
    time.sleep(3)
```


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