- DFRobot 25W DC-DC Power Module https://www.dfrobot.com/product-752.html
- 7.2V In
- 7.2V unregulated to XV11 motor
- 5V to rpi
- SparkFun ROB-09457 TB6612FNG Motor Driver
- https://www.sparkfun.com/products/9457
- Using Channel A
- PWMA = rpi gpio21 (used as pwm)
- AIN2 = 3v3
- AIN1 = GND
- STBY = rpi gpio20
- BIN1 = NC
- BIN2 = NC
- PWMB = NC
- GND = NC
- VM = 7v2
- Vcc = 3v3
- GND = GND
- A01 = Lidar Motor
- A02 = Lidar Motor
- B02 = NC
- B01 = NC
- GND = GND
- /dev/serial0 for XV11 serial data
- pwm21 for motor speed control
- gpio20 for motor on/off
- /dev/pi-blaster for pwm control
- https://github.com/sarfata/pi-blaster
- pi-blaster needs to have gpio20 added as a known pin