Today I worked on testing the PWM motor functionality of the system using the Sparkfun TB6612FNG motor drivers. As you can see in the picture below, I followed the schematic that the previous students used. To simplify things, I wrote out what the pins should be connected to.

• VCC, VM, BIN1, STBY, AIN1 ----> +3.3v
• GND, BIN2, AIN2 ----> GND
• A01, A02 ----> Motor 1 (I wired the red wire to A01, but I don't think it matters?)
• B01, B02 ----> Motor 2
• PWMA ----> ESP32 pin outputting PWM signal (PWMA corresponds to A01, A02/motor1)
• PWMB ----> ESP32 pin outputting PWM signal (PWMB corresponds to B01, B02/motor2)

Below is the code that I used to test the motor:

import time
import machine
from machine import Pin

motor = machine.PWM(Pin(18))
motor.freq(1000)

while True: # On for 2 seconds, off for 2 seconds
  motor.duty(341) # Input different values here to test
  time.sleep(2)
  motor.duty(0)
  time.sleep(2)

My next test will be to wire up all of the motors and expand my program to sequentially send a signal to each motor.