Day 2: Motor Driver Wiring & GPIO Testing

Before using ROS, we validate hardware. If motors fail here — ROS will never fix it.

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1. Motor Driver Used

• L298N / L293D
• 4 DC Motors

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2. GPIO Pin Mapping

Motor	GPIO
ENA	GPIO18
IN1	GPIO17
IN2	GPIO27
ENB	GPIO13
IN3	GPIO22
IN4	GPIO23

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3. Motor Test Script (Python)

import RPi.GPIO as GPIO
import time

GPIO.setmode(GPIO.BCM)

ENA, IN1, IN2 = 18, 17, 27
ENB, IN3, IN4 = 13, 22, 23

GPIO.setup([ENA, IN1, IN2, ENB, IN3, IN4], GPIO.OUT)

GPIO.output(IN1, GPIO.HIGH)
GPIO.output(IN2, GPIO.LOW)
GPIO.output(IN3, GPIO.HIGH)
GPIO.output(IN4, GPIO.LOW)

time.sleep(2)
GPIO.cleanup()

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4. Run Test

python3 motor_test.py

Expected: Robot moves forward.

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Next → Day 3: ROS motor driver node