Ripley: The Evolution of a PiBot – Part 2d: Drive Motor Control Revamp

Having rethought the drive motor, I came up with the following scenario, using 2 pairs of power transistors in opposing configurations (Q3/Q6 and Q4/Q5) to enable the drive motor polarity to be switched from the RPi GPIO pin, with a third (Q2) providing the RPi PWM controlled supply. As the drive motor is the highest current rated device, it will be the only motor to use this system.

The L9110 Motor controller can now be re-purposed to run the steering servo.

Ripley Power, Main Drive & Steering

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