Line Follower Part 3

Lesson 3: H-Bridge and Motor Control

Components:

• 1x DC motor
• 1x L298N H-Bridge motor driver
• 1x 9V battery or external power supply for the motors
• Jumper wires
• 1x ESP32

Code:

This code will control the motor using an H-Bridge motor driver. You will control the motor’s direction by toggling the GPIO pins connected to the H-Bridge.

from machine import Pin
import time

# Define pins connected to the H-Bridge
IN1 = Pin(5, Pin.OUT)
IN2 = Pin(18, Pin.OUT)

def motor_forward():
    IN1.on()
    IN2.off()

def motor_backward():
    IN1.off()
    IN2.on()

def motor_stop():
    IN1.off()
    IN2.off()

# Run the motor in both directions for 2 seconds
motor_forward()
time.sleep(2)
motor_stop()
time.sleep(1)
motor_backward()
time.sleep(2)
motor_stop()

Explanation:

• IN1 and IN2 control the motor’s direction.
• The motor_forward() and motor_backward() functions control which way the motor spins.