Building Robots Part 12
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196 POWER + APPENDIX B. 6.270 HARDWARE POWER + Figure B.11: The H-Bridge with Left-to-Right Current Flow To facilitate control of the H-bridge circuit, enable circuitry as depicted in Figure B.12 is typically used. In this circuit, the inverters ensure that the vertical pairs of transistors are never enabled simultaneously. The Enable input determines whether or not the whole circuit is operational. If this input is false, then none of the transistors are enabled, and the motor is free to coast to a stop. By turning on the Enable input and controlling the two Direction inputs, the motor can be made to turn in...
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