Dual Motor Driver

The GMOD TB6612FNG Dual Motor Driver is a high-efficiency power control module designed to drive up to two DC motors or one bipolar stepper motor. Built around the advanced TB6612FNG dual H-bridge IC, it provides superior efficiency and lower heat generation compared to older drivers like the L298N. This module allows for precise bidirectional control (Forward/Reverse) and speed regulation using PWM signals, making it an essential component for robotics, automated vehicles, and high-performance embedded systems.

Key Features

Dual Channel Control: Independently drives two DC motors or one bipolar stepper motor.
High Efficiency: MOSFET-based H-bridge design for minimal voltage drop and low heat.
Built-in Protection: Includes over-current protection, thermal shutdown, and low-voltage detection.
Standard Control Logic: Compatible with most microcontrollers via PWM and simple direction pins.
Compact G-Mod Format: Plugs directly into Glyph development boards.

Technical Specifications

Parameter	Operating Range
Motor Supply (VM)	2.5V – 13.5V DC
Logic Supply (VCC)	2.7V – 5.5V DC
Output Current	1.2A (Continuous) / 3.2A (Peak)
Switching Frequency	Up to 100 kHz (PWM)
Internal MOSFET RDS(on)	0.5Ω (Typical)

Pin Configuration

The module features a standard interface for motor power and control:

Pin Name	Description
VCC	Logic Logic Power (3.3V / 5V)
GND	Ground (Common for Logic and Power)
VM	External Motor Power Source (2.5V – 13.5V)
STBY	Standby Control (HIGH = Enable, LOW = Power Down)
AIN1 / AIN2	Direction Control inputs for Motor A
PWMA	PWM input for Speed Control of Motor A
BIN1 / BIN2	Direction Control inputs for Motor B
PWMB	PWM input for Speed Control of Motor B
AO1 / AO2	Output terminals for Motor A
BO1 / BO2	Output terminals for Motor B

H-Bridge Control Logic

Both channels (A and B) follow the same truth table for controlling movement:

STBY	IN1	IN2	PWM	Output (O1 / O2)	Motor Mode
LOW	X	X	X	High-Z	Standby (OFF)
HIGH	HIGH	LOW	HIGH	H / L	Forward
HIGH	LOW	HIGH	HIGH	L / H	Reverse
HIGH	HIGH	HIGH	X	L / L	Short Brake
HIGH	LOW	LOW	X	High-Z	Stop (Coast)

Step 1: Hardware Required

GMOD TB6612FNG Motor Driver
GLYPH (ESP32-S3 / C3 / C6)
2x DC Motors
External Battery Pack (e.g., 7.4V Li-ion or 12V LiPo)

Step 2: Circuit Connection

Connect the driver to your Glyph board following the GPIO definitions provided in your specific code example. Motor Driver Circuit Diagram

Always ensure the VM (Motor Power) and VCC (Logic Power) are not swapped, and that they share a common Ground (GND). Reversing polarity on VM can damage the TB6612FNG IC.

Step 3: Code Setup

I2C Conflict: GPIO 5 is the default SCL pin for I2C communication across the entire GLYPH series (C3, C6, and S3). If you are using I2C sensors via the GLINK port, change the STBY pin in the code to an alternative digital pin (e.g., GPIO 6 or 14) to avoid communication conflicts.
Standby vs. Coast: Setting STBY to LOW puts the driver in Standby (Power Down). For a true Coast stop where the motor spins freely, keep STBY HIGH and set both AIN1 and AIN2 to LOW.

// Mapping pins for TB6612FNG
const int STBY = 5;  // Standby pin
const int AIN1 = 18; // Motor A Direction 1
const int AIN2 = 19; // Motor A Direction 2
const int PWMA = 21; // Motor A Speed (PWM)

void setup() {
  pinMode(STBY, OUTPUT);
  pinMode(AIN1, OUTPUT);
  pinMode(AIN2, OUTPUT);
  pinMode(PWMA, OUTPUT);

  // Enable the driver
  digitalWrite(STBY, HIGH);
}

void loop() {
  // Move Forward at half speed
  digitalWrite(AIN1, HIGH);
  digitalWrite(AIN2, LOW);
  analogWrite(PWMA, 127); // Range 0-255
  delay(2000);

  // Stop (Short Brake)
  digitalWrite(AIN1, HIGH);
  digitalWrite(AIN2, HIGH);
  delay(1000);

  // Reverse at full speed
  digitalWrite(AIN1, LOW);
  digitalWrite(AIN2, HIGH);
  analogWrite(PWMA, 255);
  delay(2000);

  // Coast Stop
  digitalWrite(STBY, LOW); // Disable driver
  delay(1000);
  digitalWrite(STBY, HIGH); // Re-enable
}

Step 4: Upload the Code

Connect the Board
- Connect your GLYPH board to your computer via USB.
Select the Board and Port In the Arduino IDE:
- Select Tools > Board > esp32 > Pcbcupid GLYPH.
- Select Tools > Port and choose the port connected to your board.
- Ensure Tools > USB CDC on Boot is set to Enabled.
Upload
- Click the Upload button (or press CTRL + U) to compile and flash the code.

Step 5: Observe the Output

Once the code is uploaded, the connected motors should rotate forward for 2 seconds, brake briefly, and then reverse for 2 seconds before coasting to a stop.

STBY Pin: Remember that the STBY pin must be pulled HIGH for the motor driver to respond to any commands.
Common Ground: Ensure the external motor power supply Ground is connected to the microcontroller Ground.
Thermal Check: While the TB6612FNG is efficient, it may become warm when driving heavy loads. Ensure proper ventilation.

Welcome

Modules

Enclosure

Key Features

Technical Specifications

Pin Configuration

H-Bridge Control Logic

Step 1: Hardware Required

Step 2: Circuit Connection

Step 3: Code Setup

Step 4: Upload the Code

Step 5: Observe the Output

​Key Features

​Technical Specifications

​Pin Configuration

​H-Bridge Control Logic

​Step 1: Hardware Required

​Step 2: Circuit Connection

​Step 3: Code Setup

​Step 4: Upload the Code

​Step 5: Observe the Output

Key Features

Technical Specifications

Pin Configuration

H-Bridge Control Logic

Step 1: Hardware Required

Step 2: Circuit Connection

Step 3: Code Setup

Step 4: Upload the Code

Step 5: Observe the Output