JoyIT_MotoPi

Python library for controlling the Joy-IT RB-Moto3 motor/servo expansion board on a Raspberry Pi. The board uses a PCA9685 16-channel, 12-bit PWM controller connected via I²C. The library provides access to the PWM channels, a shared frequency setting, raw PWM counter values and microsecond pulse generation.

This implementation communicates directly with the controller through smbus2 and uses gpiozero for the optional board-enable GPIO. It does not require Adafruit CircuitPython PCA9685. The included servo example uses adafruit-circuitpython-motor, which is a separate package.

Requirements

• Raspberry Pi with Python 3.9 or later and the I²C interface enabled.
• Joy-IT RB-Moto3 connected to the appropriate Raspberry Pi GPIO/I²C interface.
• Python packages: smbus2, gpiozero and adafruit-circuitpython-motor (declared in pyproject.toml).
• The Linux user must have access to the I²C device and the configured GPIO pin.

Enable I²C using sudo raspi-config (Interface Options → I2C), then reboot if prompted.

Installation

You can install this library from PyPI. To install it for the current user on your Raspberry Pi, use the following command:

pip3 install JoyIT_MotoPi

Install library into virtual environment:

python -m venv --system-site-packages env
source env/bin/activate
pip3 install JoyIT_MotoPi

API reference

[!Note] Prefer the with MotoPi(...) as motopi: form: it calls deinit() when the block ends, including on exceptions. Without a context manager, call motopi.close() explicitly. When the library opens the I²C bus itself, it closes that bus; when you pass an existing bus object, it leaves ownership of that bus with the caller.

License and attribution

See LICENSE. Portions of the implementation are adapted from the Adafruit CircuitPython PCA9685 library; the corresponding copyright and MIT license notices are retained in the source files.