motor driving

640.md

@@ -73,8 +73,24 @@ from darkwater_640.darkwater_640 import dw_Controller, dw_Motor, dw_Servo
 
 #### Create a controller
 
+The **dw_controller** object controls access to all the elements on the 640 board, so the first thing we need to do is create a controller - we pass in the address of the 640 board as a parameter - the default address is 0x60
+
+``` python
+dw = dw_Controller( addr=0x60 )
+```
+
+Now that we have the controller created, we can access all the connectors on the board.
+
 #### Select a Motor
 
+There are 6 motor ports on the 640 board numbered 1 to 6 from left to right (with the ports facing you ).
+
+If we want to control a motor on port number 1 then we need to request the motor object for that port from our controller - this is very easily done with a single line
+
+``` python
+m1 = dw.getMotor(1)
+```
+
 #### Motor driving
 
 #### Select a Servo