L298N Motor Driver

import machine	# Controls the board's pins
import time	# Controls pauses and timing

# Sets up pin26 as an output for the pin25 motor, door 1 (L298N IN1)
# pin26 corresponds to D2 on the Sensor Shield V5.0
pin26 = machine.Pin(26, machine.Pin.OUT)
# Sets up pin25 as an output for the pin25 motor, door 2 (L298N IN2)
# pin25 corresponds to D3 on the Sensor Shield V5.0
pin25 = machine.Pin(25, machine.Pin.OUT)

print("First test of the pin25 motor...")	# The announcement
pin26.value(1)	# Open door 1: current flows forward
pin25.value(0)	# Door 2 stays closed
print("Motor: FORWARD")	# Narrate the state
time.sleep(2)	# Two seconds of spin
pin26.value(0)	# Close door 1
pin25.value(0)	# Close door 2
print("Motor: STOP")	# Narrate the calm

💡 Note: one motor, two doors, one decision you already know this machine from the fan. The only new idea is scale: this driver commands a motor strong enough to push a chassis, so the wiring discipline matters (battery for motors, wheels off the table for now). Whisper in, thunder out.

import machine	# Controls the board's pins
import time	# Controls pauses and timing

# Sets up pin26 as an output for the left motor, door 1 (L298N IN1)
# pin26 corresponds to D2 on the Sensor Shield V5.0
pin26 = machine.Pin(26, machine.Pin.OUT)
# Sets up pin25 as an output for the left motor, door 2 (L298N IN2)
# pin25 corresponds to D3 on the Sensor Shield V5.0
pin25 = machine.Pin(25, machine.Pin.OUT)
# Sets up pin27 as an output for the right motor, door 1 (L298N IN3)
# pin27 corresponds to D6 on the Sensor Shield V5.0
pin27 = machine.Pin(27, machine.Pin.OUT)
# Sets up pin14 as an output for the right motor, door 2 (L298N IN4)
# pin14 corresponds to D7 on the Sensor Shield V5.0
pin14 = machine.Pin(14, machine.Pin.OUT)

print("FORWARD")	# State 1
pin26.value(1)	# Left: door 1 open
pin25.value(0)	# Left: door 2 closed
pin27.value(1)	# Right: door 1 open
pin14.value(0)	# Right: door 2 closed
time.sleep(2)	# Roll ahead 2 seconds
print("STOP")	# State 2
pin26.value(0)	# Left: everything closed
pin25.value(0)
pin27.value(0)	# Right: everything closed
pin14.value(0)
time.sleep(1)	# One second of stillness
print("BACKWARD")	# State 3
pin26.value(0)	# Left: door 1 closed...
pin25.value(1)	# ...door 2 open = reversed!
pin27.value(0)	# Right: door 1 closed
pin14.value(1)	# ...door 2 open = reversed!
time.sleep(2)	# Roll back 2 seconds
print("STOP")	# Final state
pin26.value(0)	# All doors closed
pin25.value(0)
pin27.value(0)
pin14.value(0)

Serial Monitor: 

FORWARD 

STOP 

BACKWARD 

STOP 

💡 Note: watch the wheels while each word prints direction is data, and the data is just a door table. The backward trick deserves attention: nobody "told the motor to reverse"; the code simply opened the other door, routing the current the opposite way. Four doors total now drive a vehicle. Only four.

import machine	# Controls the board's pins
import time	# Controls pauses and timing

# Sets up pwm26 as a PWM output for the left motor, door 1 (L298N IN1)
# pwm26 corresponds to D2 on the Sensor Shield V5.0
pwm26 = machine.PWM(machine.Pin(26))
# Sets up pwm25 as a PWM output for the left motor, door 2 (L298N IN2)
# pwm25 corresponds to D3 on the Sensor Shield V5.0
pwm25 = machine.PWM(machine.Pin(25))
# Sets up pwm27 as a PWM output for the right motor, door 1 (L298N IN3)
# pwm27 corresponds to D6 on the Sensor Shield V5.0
pwm27 = machine.PWM(machine.Pin(27))
# Sets up pwm14 as a PWM output for the right motor, door 2 (L298N IN4)
# pwm14 corresponds to D7 on the Sensor Shield V5.0
pwm14 = machine.PWM(machine.Pin(14))

print("=== TAKEOFF software speed only ===")	# The announcement
print("ENA/ENB jumpers stay installed. Speed lives in the code!")	# The secret
for i in range(1, 11, 1):	# i counts 1 ... 10
    power = i * 6553	# 6553 ... 65530 (steps of 10%)
    pwm26.duty_u16(power)	# Left door 1 at this power
    pwm25.duty_u16(0)	# Left door 2 closed
    pwm27.duty_u16(power)	# Right door 1 at this power
    pwm14.duty_u16(0)	# Right door 2 closed
    print("Throttle:", i * 10, "%")	# The COMMANDED power
    time.sleep_ms(800)	# Feel each step
print("Now the curve: left FULL, right HALF!")	# The surprise
pwm26.duty_u16(65535)	# Left wheel at 100%
pwm27.duty_u16(32000)	# Right wheel at about half
time.sleep(3)	# The car bends toward the slow side!
pwm26.duty_u16(0)	# Park
pwm25.duty_u16(0)
pwm27.duty_u16(0)
pwm14.duty_u16(0)
print("Parked. We commanded power we never MEASURED speed.")	# The golden rule

Serial Monitor: 

=== TAKEOFF software speed only === 

ENA/ENB jumpers stay installed. Speed lives in the code! 

Throttle: 10 % 

Throttle: 20 % 

... 

Throttle: 100 % 

Now the curve: left FULL, right HALF! 

Parked. We commanded power we never MEASURED speed. 

💡 Note: three lessons in one exercise. ① The jumpers never moved: PWM on the door pins is enough the flicker trick now drives a vehicle, exactly as it drove the lamp and fan. ② The curve secret: two wheels at different speeds → the car bends toward the slower one. Tanks, excavators and robot vacuums steer exactly this way no steering wheel, just differential speed. ③ Command ≠ measurement: the Serial printed 50%, but nobody measured the wheels the motor has no sensor. The dead zone returns too: below ~20% the wheels hum and stall; find your car's floor and remember it.

import machine	# Controls the board's pins
import time	# Controls pauses and timing

# Sets up pwm26 as a PWM output for the left motor, door 1 (L298N IN1)
# pwm26 corresponds to D2 on the Sensor Shield V5.0
pwm26 = machine.PWM(machine.Pin(26))
# Sets up pwm25 as a PWM output for the left motor, door 2 (L298N IN2)
# pwm25 corresponds to D3 on the Sensor Shield V5.0
pwm25 = machine.PWM(machine.Pin(25))
# Sets up pwm27 as a PWM output for the right motor, door 1 (L298N IN3)
# pwm27 corresponds to D6 on the Sensor Shield V5.0
pwm27 = machine.PWM(machine.Pin(27))
# Sets up pwm14 as a PWM output for the right motor, door 2 (L298N IN4)
# pwm14 corresponds to D7 on the Sensor Shield V5.0
pwm14 = machine.PWM(machine.Pin(14))

print("=== THE CAR'S FIRST DANCE ===")	# The show begins
print("Step 1: FORWARD")	# Move one
pwm26.duty_u16(50000)	# Left pushes forward
pwm25.duty_u16(0)
pwm27.duty_u16(50000)	# Right pushes forward
pwm14.duty_u16(0)
time.sleep(2)	# Two seconds ahead
print("Step 2: STOP")	# Freeze
pwm26.duty_u16(0)
pwm25.duty_u16(0)
pwm27.duty_u16(0)
pwm14.duty_u16(0)
time.sleep(1)	# One second of drama
print("Step 3: PIVOT RIGHT")	# The spin!
pwm26.duty_u16(50000)	# Left pushes FORWARD...
pwm25.duty_u16(0)
pwm27.duty_u16(0)	# ...right pushes BACKWARD
pwm14.duty_u16(50000)	# The car rotates on its center!
time.sleep(1)	# One second of spinning
print("Step 4: STOP")	# Freeze again
pwm26.duty_u16(0)
pwm25.duty_u16(0)
pwm27.duty_u16(0)
pwm14.duty_u16(0)
time.sleep(1)
print("Step 5: BACKWARD")	# Reverse
pwm26.duty_u16(0)
pwm25.duty_u16(50000)	# Left door 2 open
pwm27.duty_u16(0)
pwm14.duty_u16(50000)	# Right door 2 open
time.sleep(2)	# Two seconds back
print("Step 6: STOP dance complete!")	# The finale
pwm26.duty_u16(0)
pwm25.duty_u16(0)
pwm27.duty_u16(0)
pwm14.duty_u16(0)

Serial Monitor: 

=== THE CAR'S FIRST DANCE === 

Step 1: FORWARD 

Step 2: STOP 

Step 3: PIVOT RIGHT 

Step 4: STOP 

Step 5: BACKWARD

 Step 6: STOP dance complete!

💡 Note: take the car OFF the stand for the pivot it's the first move that needs the floor to grip. And study what the pivot really is: forward and backward at the same time, one wheel each. Nothing new was invented; the dance is just the door table from 27.2, rearranged. That is what choreography means in code: known states, sequenced with intention. Which step of the dance would you change to make the car spin LEFT instead?

import machine	# Controls the board's pins
import time	# Controls pauses and timing

# Sets up pwm26 as a PWM output for the left motor, door 1 (L298N IN1)
# pwm26 corresponds to D2 on the Sensor Shield V5.0
pwm26 = machine.PWM(machine.Pin(26))
# Sets up pwm25 as a PWM output for the left motor, door 2 (L298N IN2)
# pwm25 corresponds to D3 on the Sensor Shield V5.0
pwm25 = machine.PWM(machine.Pin(25))
# Sets up pwm27 as a PWM output for the right motor, door 1 (L298N IN3)
# pwm27 corresponds to D6 on the Sensor Shield V5.0
pwm27 = machine.PWM(machine.Pin(27))
# Sets up pwm14 as a PWM output for the right motor, door 2 (L298N IN4)
# pwm14 corresponds to D7 on the Sensor Shield V5.0
pwm14 = machine.PWM(machine.Pin(14))

speed = 45000	# The mission's cruising power (about 70%)

print("=== PC-DRIVEN CAR ===")	# The mission title
print("Commands: F B L R S (EXIT parks the car)")	# The menu
while True:	# Serve commands forever
    cmd = input("Command: ")	# Wait for your order
    if cmd == "EXIT":	# Park and quit
        pwm26.duty_u16(0)	# SAFETY: stop everything FIRST
        pwm25.duty_u16(0)
        pwm27.duty_u16(0)
        pwm14.duty_u16(0)
        print("Car parked. Goodbye!")	# Farewell
        break	# Leave the loop
    elif cmd == "F":	# Forward
        pwm26.duty_u16(speed)	# Left forward
        pwm25.duty_u16(0)
        pwm27.duty_u16(speed)	# Right forward
        pwm14.duty_u16(0)
        print("Car: FORWARD at", speed)	# Confirm
    elif cmd == "B":	# Backward
        pwm26.duty_u16(0)
        pwm25.duty_u16(speed)	# Left backward
        pwm27.duty_u16(0)
        pwm14.duty_u16(speed)	# Right backward
        print("Car: BACKWARD at", speed)	# Confirm
    elif cmd == "L":	# Pivot left
        pwm26.duty_u16(0)	# Left pushes BACKWARD...
        pwm25.duty_u16(speed)
        pwm27.duty_u16(speed)	# ...right pushes FORWARD
        pwm14.duty_u16(0)
        print("Car: PIVOT LEFT")	# Confirm
    elif cmd == "R":	# Pivot right
        pwm26.duty_u16(speed)	# Left pushes FORWARD...
        pwm25.duty_u16(0)
        pwm27.duty_u16(0)	# ...right pushes BACKWARD
        pwm14.duty_u16(speed)
        print("Car: PIVOT RIGHT")	# Confirm
    elif cmd == "S":	# Full stop
        pwm26.duty_u16(0)
        pwm25.duty_u16(0)
        pwm27.duty_u16(0)
        pwm14.duty_u16(0)
        print("Car: STOP")	# Confirm
    else:	# Unknown word
        print("Unknown command:", cmd)	# The polite refusal

Serial Monitor: 

=== PC-DRIVEN CAR === 

Commands: F B L R S (EXIT parks the car) 

Command: F 

Car: FORWARD at 45000 

Command: R 

Car: PIVOT RIGHT 

Command: S 

Car: STOP 

Command: X 

Unknown command: X 

Command: EXIT 

Car parked. Goodbye! 

💡 Note the graduation exercise: everything you own appears one last time. The command menu and input() (Module 1) · the else safety net (Mini-Assistant) · break (Security System) · door-table control (this module) · the safety-first exit (Command Fan). Two upgrades to try: ① a wheel spins the wrong way on F? Swap that motor's two wires at the L298N output a real hardware fix, not a code fix; ② add a FAST command with a speed memory like the fan's you already know the pattern. Then the demo: an obstacle course on the floor, one driver per team, the class narrating. You typed letters on a keyboard, and a vehicle moved. That is the whole promise of robotics, delivered and Level 1's finale is ready for it.