Motor Control Basics

Motors allow your robot to move and interact with the world.

DC Motor with L298N Motor Driver

Never connect motors directly to Arduino! Use a motor driver.

// Motor A connections
const int enA = 9;   // PWM pin for speed control
const int in1 = 8;
const int in2 = 7;

void setup() {
  pinMode(enA, OUTPUT);
  pinMode(in1, OUTPUT);
  pinMode(in2, OUTPUT);
}

void loop() {
  // Move forward at full speed
  digitalWrite(in1, HIGH);
  digitalWrite(in2, LOW);
  analogWrite(enA, 255);  // Speed 0-255
  delay(2000);

  // Stop
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  delay(1000);

  // Move backward at half speed
  digitalWrite(in1, LOW);
  digitalWrite(in2, HIGH);
  analogWrite(enA, 128);  // Half speed
  delay(2000);

  // Stop
  digitalWrite(in1, LOW);
  digitalWrite(in2, LOW);
  delay(1000);
}
      

Servo Motor Control

Servos are perfect for robotic arms and precise movements.

#include 

Servo myServo;

void setup() {
  myServo.attach(9);  // Servo signal pin
}

void loop() {
  myServo.write(0);    // Move to 0 degrees
  delay(1000);

  myServo.write(90);   // Move to 90 degrees
  delay(1000);

  myServo.write(180);  // Move to 180 degrees
  delay(1000);
}
      

Motor Driver Wiring (L298N)

• IN1, IN2: Direction control → Arduino pins 7, 8
• ENA: Speed control (PWM) → Arduino pin 9
• OUT1, OUT2: Motor terminals
• 12V: External battery (+)
• GND: Common ground (Arduino + Battery)