> ## Documentation Index
> Fetch the complete documentation index at: https://learn.pcbcupid.com/llms.txt
> Use this file to discover all available pages before exploring further.

> The G-Mod TB6612FNG dual motor driver controls two DC motors via an integrated dual H-bridge IC for efficient bidirectional speed and direction control.

# Dual Motor Driver

export const ShopHeader = ({title, url}) => <div style={{
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  width: '100%',
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    <a href={url} target="_blank" rel="noopener noreferrer" style={{
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  fontSize: '0.95rem',
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      Shop now
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    borderRadius: '32px',
    border: '1px solid rgba(0,0,0,0.08)',
    overflow: 'hidden',
    marginTop: '0.75rem',
    marginBottom: '1.5rem'
  }}>
      <div style={{
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    height: '450px',
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    justifyContent: 'center',
    background: '#fff',
    padding: '1rem'
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        {show3D && modelUrl ? <div ref={function (el) {
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    el._mv = true;
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    s.src = "https://ajax.googleapis.com/ajax/libs/model-viewer/4.2.0/model-viewer.min.js";
    s.type = "module";
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      mv.setAttribute('src', modelUrl);
      mv.setAttribute('camera-controls', '');
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      el.appendChild(mv);
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    document.head.appendChild(s);
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    maxHeight: '100%',
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  }} />}
      </div>
      <div style={{
    display: 'flex',
    justifyContent: 'center',
    gap: '12px',
    padding: '1rem',
    background: '#eee',
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    fontWeight: 700,
    textTransform: 'uppercase',
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            3D VIEW
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<ShopHeader title="Motor Driver Module" url="https://shop.pcbcupid.com/product/gm010/" />

<ImgGallery modelUrl="https://raw.githubusercontent.com/pcbcupid/pcbcupid-hardware-libraries/main/pcbcupid_3dmodels/glb/gmod_motor-driver.glb" images={[{url: "https://files.pcbcupid.com/Documentation/Boards/g-mod/Motor_driver/Motor%20Driver-illustration.avif", label: "ILLUSTRATION VIEW", id: "illustration"}, {url: "https://files.pcbcupid.com/Documentation/Boards/g-mod/Motor_driver/Motor-driver-boardview.avif", label: "BOARD VIEW", id: "board"}]} />

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.

<br />

***

## 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

1. GMOD TB6612FNG Motor Driver
2. [GLYPH (ESP32-S3 / C3 / C6)](https://shop.pcbcupid.com/product-category/development-boards/)
3. 2x DC Motors
4. 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](https://files.pcbcupid.com/Documentation/Boards/g-mod/Motor_driver/motor%20driver%20circuit%20daigram/Motor_Driver_20260327T080258.png)

<Warning>
  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.
</Warning>

***

## Step 3: Code Setup

<Warning>
  * **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`.
</Warning>

```cpp theme={null}
// 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

1. **Connect the Board**
   * Connect your GLYPH board to your computer via USB.

2. **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**.

3. **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.

<Info>
  * **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.
</Info>