Explanation

The library is forked from L298n. The original library is designed for Arduino board, using analogWrite, which may cause some problem on ESP32. Using ESP32_AnalogWrite or AnalogWrite_ESP32 can overwrite ledcWrite of ESP32 to analogWrite. As pablomarquez76 saind, ESP32 has supported analogWrite after 2.0.11. The official document is at here.The resolution is form 0 to 255, testing normal. So nothing needs change.

I added a method to get input from -255 to 255 to control the motor. It is for easier direction control.

I tested it with PID library. Sometimes PID always output 0. Sometimes it works. I didn't find the reason. It might because ESP32Encoder or this repo use the same timer with PID. I am not sure. Be careful.

The below is original readme.

L298N Library

An easy to use L298N library to control DC Motors with Arduino.

NOTICE

As you know, any L298N module has the ability to drive two motors at once, but you may not know that one instance of the library is intended to pilot only one motor. So if you need to drive two motors, you have to instantiate two L298N objects (one for each motor).

To instantiate both motors at once use the L298NX2 variant of the library.

L298NX2 is not a new version of module or IC, but it stands for a double implementation of L298N library.

INSTALL THE LIBRARY

Download this repository as a .zip file and from the Arduino IDE go to Sketch -> Include library -> Add .ZIP Library

IMPORT

You can import the library in your code using the Arduino IDE going to Sketch -> Include library -> L298N or directly writing the include statement in your code:

// For single motor instance
#include <L298N.h>

// For two motors instance at once
#include <L298NX2.h>

INSTANTIATE THE MODULE

To drive a motor the first thing is to create an instance of the library.

// With Enable pin to control speed
L298N myMotor(EN, IN1, IN2);

// Without Enable pin with jumper in place
L298N myMotor(IN1, IN2);

EN = is the Arduino pin (requires a PWM pin) connected to the Enable pin of the module
IN1 and IN2 are the two digital pins connected to IN1 and IN2 pins of the module

Same thing for L298NX2 variant

// With Enable pin to control speed

                     motor A            motor B
              |------------------||------------------|
L298NX2 myMotors(EN_A, IN1_A, IN2_A, EN_B, IN1_B, IN2_B);

// Without Enable pin and jumper in place

                  motor A      motor B
              |------------||------------|
L298NX2 myMotors(IN1_A, IN2_A, IN1_B, IN2_B);

L298N Methods

Method	Params	Description
setSpeed	unsigned short pwmVal	Set the PWM value used to determine the motor speed. Value from 0 to 255.
getSpeed	none	Get the speed previously set.
forward	none	Run motor in forward direction (depends on wiring).
forwardFor	unsigned long delay	Run motor in forward direction for a time specified by delay.
forwardFor	unsigned long delay, CallBackFunction callback	Run motor in forward direction for a time specified by delay, after moving execute a callback function.
backward	none	Run motor in backward direction (depends on wiring).
backwardFor	unsigned long delay	Run motor in backward direction for a time specified by delay.
backwardFor	unsigned long delay, CallBackFunction callback	Run motor in backward direction for a time specified by delay, after moving execute a callback function.
run	uint8_t direction	Move motor. To specify the direction use one of L298N::FORWARD, L298N::BACKWARD or L298N::STOP.
runFor	unsigned long delay, L298N::Direction direction	Like forwardFor or backwardFor but more flexible. To specify the direction use one of L298N::FORWARD, L298N::BACKWARD or L298N::STOP.
runFor	unsigned long delay, L298N::Direction direction, CallBackFunction callback	Like previous with the ability to execute a callback function.
stop	none	Stop the motor.
reset	none	Used to re-enable motor movements after the use of runFor, forwardFor or backwardFor methods.
isMoving	none	Returns a boolean indicating if motor is running or not.
getDirection	none	Returns the current L298N::Direction.

Direction

Constant	Int Value
L298N::FORWARD	0
L298N::BACKWARD	1
L298N::STOP	-1

L298NX2 Methods

L298NX2 have the same methods of L298N identified by A or B suffix to drive each motor. For example setSpeed for motor A is setSpeedA and setSpeedB for motor B.

Methods without suffix, will affects both motors.

Method	Params
setSpeed	unsigned short pwmVal
forward	none
forwardFor	unsigned long delay, CallBackFunction callback
forwardFor	unsigned long delay
backward	none
backwardFor	unsigned long delay, CallBackFunction callback
backwardFor	unsigned long delay
run	uint8_t direction
runFor	unsigned long delay, L298N::Direction direction
runFor	unsigned long delay, L298N::Direction direction, CallBackFunction callback
stop	none
reset	none

Examples

Examples can be founds in the examples folder or if installed in Arduino IDE, by the Menu -> File -> Example -> L298N.

Wiring schema can be found in schema folder.

Donations

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Hao-Starrr/L298N-ESP32