Waveshare AlphaBot, User Manual

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AlphaBot User Manual
12
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Interface definition of driver module:
Interfaces Raspberry Pi Arudino
IN1 P12 A0
IN2 P13 A1
ENA P6 D5
IN3 P20 A2
IN4 P21 A3
ENB P26 D6
IN1 and IN2 are connected to the left motor, while IN3 and IN4 are connected to
the right motor.
ENA and ENB are output enable pins, active high enable. When they are driven to
High level, the PWM pulse will be outputted from IN1, IN2, IN3 and IN4, so as to
control the speed of the motor robot.
Control theory：
IN1 IN2 IN3 IN4 Descriptions
1 0 0 1 When the motors rotate forwards, the robot goes straight
0 1 1 0 When the motors rotate backwards, the robot draws back
0 0 0 1 When the left motor stops and right motor rotates forwards,
the robot turns left
1 0 0 0 When the right motor stops and left motor rotates forwards,
the robot turns right
0 0 0 0 When the motors stop, the robot stops