Building the circuit

The circuit can be built with a SN754410 H-Bridge Motor Driver IC, as shown in Figure 5-6. The driver IC allows you to control four motors in one direction by using the four half H-Bridges, or control two motors in both directions by using a full H-Bridge for each motor. The Zumo robot requires two motors to drive the wheels in both directions using a full H-Bridge for each motor. Use four rechargeable NiMH AA-sized batteries with the Zumo chassis's battery compartment to power the motors and driver circuit:

Figure 5-6: Motor driver connected to the Raspberry Pi

The pin layout of SN754410 IC is shown in Figure 5-7. The ...

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