Pololu VNH5019, Руководство пользователя, Страница: 8 / 25

All of the necessary logic connections between the Arduino and the motor driver shield are made automatically
when the shield is plugged into the Arduino. However, the shield’s power connections must be made directly to
the shield itself via its large VIN and GND pads. The picture above shows the typical connections involved in
using this board as an Arduino shield.
Default Arduino Pin Mappings
The following table shows how the shield connects your Arduino’s pins to the motor drivers’ pins:
Arduino Pin VNH5019 Driver Pin Basic Function
Digital 2 M1INA Motor 1 direction input A
Digital 4 M1INB Motor 1 direction input B
Digital 6 M1EN/DIAG Motor 1 enable input/fault output
Digital 7 M2INA Motor 2 direction input A
Digital 8 M2INB Motor 2 direction input B
Digital 9 M1PWM Motor 1 speed input
Digital 10 M2PWM Motor 2 speed input
Digital 12 M2EN/DIAG Motor 2 enable input/fault output
Analog 0 M1CS Motor 1 current sense output
Analog 1 M2CS Motor 2 current sense output
See the Pinout portion of Section 4.b for detailed descriptions of the VNH5019 driver pins and
Section 5 for a schematic diagram of the shield. See Section 6.a for instructions on how to
customize your board’s Arduino pin mappings if the above defaults are not convenient.
Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation
3. Getting Started with an Arduino Page 8 of 25