Waveshare AlphaBot User Manual page 12

AlphaBot User Manual
Interface definition of driver module:
Interfaces
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
1 0 0
0 1 1
0 0 0
1 0 0
0 0 0
Raspberry Pi
IN1 P12
IN2 P13
ENA P6
IN3 P20
IN4 P21
ENB P26
IN4
1 When the motors rotate forwards, the robot goes straight
0 When the motors rotate backwards, the robot draws back
1 When the left motor stops and right motor rotates forwards,
0 When the right motor stops and left motor rotates forwards,
0 When the motors stop, the robot stops
12
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Arudino
A0
A1
D5
A2
A3
D6
Descriptions
the robot turns left
the robot turns right