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L293D H-Bridge
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.. image:: l293d.jpg
:width: 300
:align: center
Your esieabot (from 2020 to 2022) is equipped with an L293D H-bridge enabling it to control these 2 :doc:`dc motors</understand/dcmotor/dcmotor>` in all directions.
Operation
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The L293D is an H-bridge that can control 2 motors at the same time.
.. image:: https://upload.wikimedia.org/wikipedia/commons/d/d4/H_bridge.svg
:width: 400
:align: center
Depending on which inputs are activated, the motors will turn in one direction or the other.
.. image:: https://upload.wikimedia.org/wikipedia/commons/f/f2/H_bridge_operating.svg
:width: 400
:align: center
*Cyril BUTTAY, CC BY-SA 3.0 <http://creativecommons.org/licenses/by-sa/3.0/>, via Wikimedia Commons*
Connection
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For each motor, connect the following inputs and outputs:
- Input 1 (or 3): to operate the motor in one direction
- Input 2 (or 4): to operate the motor in the other direction
- Output 1 (or 3): one of the motor terminals
- Output 2 (or 4): the other motor terminal
.. note:: Note that there is no defined direction through the H-bridge. The + and - motor terminals and the forward/reverse direction are purely arbitrary.
Technical data
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The complete data sheet is available here: https://pdf1.alldatasheet.fr/datasheet-pdf/view/22432/STMICROELECTRONICS/L293D.html