This DC motor controller is using 4 FET's (= Full Bridge, No relais). It has regenerative bracking to reduce battery power consumption and FET heating.
Input signal is a traditional RC Pulse (1 to 2 ms 5V pulse every 20 ms).
On March 26, 2006 I added a zip file with the version 2 documentation.
Using the DC Motor Controller V1 I ended 2nd during the robot competition in Hattingen (Germany) on October 2 2005.
A-men
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