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PINOUT.md

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Pinout for ESP-32 running this project's drive code

Note that pins in each category correspond to a specific wheel/motor. For example, one left motor will have PWM output on pin 32, a rotary encoder connected to pins (A) 13 and (B) 37, and a current sensor connected to pin 9.

Motor PWM Signals

  • Left Side Motors:
    • PIN 32, 33, 25
  • Right Side Motors:
    • PINS 4, 2, 15

Motor Rotary Encoders

  • 'A' Pin Inputs: 13, 12, 14, 27, 26, 21
  • 'B' Pin Inputs: 37, 39, 36, 34, 23, 22

Motor Current Sensors

  • 9, 10, 11, 19, 18, 5