CircuitPython scrfipts to assist with robot mobility
Each ZSX11H motor driver has the following key input pins:
- PWM: Controls the speed of the motor.
- DIR: Sets the motor rotation direction (clockwise/counterclockwise).
- BRAKE: Activates the brake mechanism.
- STOP: Halts the motor.
- GND: Common ground.
| Arduino Pin | Motor Driver Pin | Description |
|---|---|---|
| A0 | PWM_L | Speed control for left motor |
| A1 | DIR_L | Direction control for left motor |
| A2 | BRAKE_L | Brake control for left motor |
| A3 | STOP_L | Stop control for left motor |
| A4 | SPEED_L | Speed Pulse for left motor |
| True | FWD_L | Is "Fwd" correct? Invert if not |
| Arduino Pin | Motor Driver Pin | Description |
|---|---|---|
| D9 | PWM_R | Speed control for right motors |
| D10 | STOP_R | Stop control for right motors |
| D11 | BRAKE_R | Brake control for right motors |
| D12 | DIR_R | Direction control for right motors |
| D13 | SPEED_R | Speed pulse for right motors |
| False | FWD_R | Is "Fwd" correct? Invert if not |
The DIR_L/DIR_R pin logic is counter-intuitive. Default is 0, which turns the wheel "forward", and a 1 turns the wheel "reverse". The opposite side wheel will have logic; that's 1 to go "forward" (relative to the front of the Robot) and 0 to go "reverse".