Learning Robotics using Python - Second Edition

Input pins

The following pins are the input pins of the motor driver, through which we can control mainly the motor speed and direction:

Pin name	Function
1DIAG/EN, 2DIAG/EN	These monitor the fault conditions of motor drivers 1 and 2. In a normal operation, they will remain disconnected.
1INa, 1INb, 2INa, 2INb	These pins will control the direction of motors 1 and 2 in the following manner: If INA = INB = 0, the motor will break If INA = 1, INB = 0, the motor will rotate clockwise If INA = 0, INB = 1, the motor will rotate counter clockwise * If INA = INB = 1, the motor will break
1PWM, 2PWM	This will control the speed of motors 1 and 2 by turning them on and off at very high speed.
1CS, 2CS	This is the current ...