Motors & Encoders

Overview

Motors propel the mouse; encoders measure wheel rotation for precise control.

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Key Concepts

• DC motor control with PWM
• H-Bridge drivers for direction control
• Encoder feedback for velocity tracking

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Hardware

Component	Example
Motor Driver	TB6612FNG or L293D
Motors	Pololu 30:1 Micro Metal Gearmotor
Encoders	Magnetic encoder, 6-pole, 360 counts/rev

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Notes

• Each motor requires two H-Bridge inputs for forward/backward motion.
• Use flyback diodes or integrated protection inside your H-Bridge IC.
• Encoders connect to MCU timer pins supporting hardware quadrature mode.

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Deliverable

Schematic + PCB layout with:

• Motor driver IC
• JST connectors for motors and encoders
• Proper power decoupling caps