> For the complete documentation index, see [llms.txt](https://ykkim.gitbook.io/ec/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ykkim.gitbook.io/ec/ec-course/tutorial/tutorial-dcmotor-motor-driver-connection.md).

# Tutorial: DC motor driver connection

## Tutorial : DC Motor Driver Connection

## 1. Motor Driver: LS 9110S

![image](https://user-images.githubusercontent.com/91526930/201863253-016ba03c-196b-411f-8349-201214e01865.png)

### Connection

There are two combinations of connecting a DC motor to the driver.

Choose either Case 1 or Case 2 :

The example was summarized thorough actual experiments. And it could not the correct answer for you. So, apply it according to your situation.

The following figure is an example of an input/output connection method of a motor driver(LS9110s).

**Case 1**

* MCU
  * For Motor A: A-1B=DIR, A-1A= PWM
  * For Motor B: B-2A=DIR, B-1A= PWM
* Voltage Source

  * VCC / GND

  > Not good idea to supply MCU 5V
* DC Motor
  * (+) Red, (-) Black
  * The different in voltage out determines the rotation direction and speed

**Case 2** See the following image

![DC\_motor\_drive\_case](https://github.com/ykkimhgu/EC-student/assets/84508106/09559200-3480-4594-ae11-cc10750def0b)

![DC\_motor\_drive\_Config](https://github.com/ykkimhgu/EC-student/assets/84508106/623dd17b-6901-4a0b-a049-7ad102ba646d)

### Direction and Speed

It can be confusing that increasing the PWM duty cycle increases the speed in one direction, but decreases it in the opposite direction.

Example

* DIR=0 PWM duty=0.8 --> High Speed
* DIR=1 PWM duty=0.8 --> Low Speed

**Solution**

```c++
float targetPWM;  // pwm for motor input 
float duty=abs(DIR-targetPWM); // DIR=1 or 0

PWM_duty(PWM_PIN, duty);
```

If the DC motor does not run under duty 0.5

* Configure motor PWM signal period at least 1kHz
* Increase VCC

***

## 2. Motor Driver: L298N Motor Driver (Channel A)

![L298N pin map](https://github.com/user-attachments/assets/6d9dac90-bb76-4b37-b93d-fc65e5923962)

### Connection

* MCU
  * For Motor A: A-Enable = PWM
  * For Motor B: B-Enable = PWM
  * {IN1,IN2} = DIR options

    | IN1 | IN2 | DIR     |
    | --- | --- | ------- |
    | 1   | 0   | Forward |
    | 0   | 1   | Reverse |
* Voltage Source

  * 5V VCC / Power GND

  * Connect Power\_GND to MCU\_GND (common ground)

  > Not good idea to supply MCU 5V
* DC Motor
  * (+) Red, (-) Black
  * The different in voltage out determines the rotation direction and speed