Arduino Example Code – Motor Forward/Reverse & Stop

Hardware Preparation

• DFR0654 FireBeetle 2 ESP32-E ×1
• DFR1276 N20 PWM motor ×1

Software Preparation

• Download and install Arduino IDE: Download Arduino IDE
• Download and install the DFRobot_N20Motor library: Download DFRobot_N20Motor library
• Library Installation Guide: View Installation Guide

Wiring Diagram

Connection Description:

Sample Code

#include "DFRobot_N20Motor.h"
// ESP32‑E pin definition
#define N20_INA_PWM_PIN 12
#define N20_INB_PWM_PIN 4
/**
 * Note:
 * - The N20 motor requires PWM signal to control its speed.
 * - The PWM signal must be output from the main controller's PWM pins, ordinary digital pins cannot be used for direct driving.
*/
DFRobot_N20Motor motor(N20_INA_PWM_PIN, N20_INB_PWM_PIN);

void setup()
{
  Serial.begin(115200);
  delay(100);
  Serial.println();
  Serial.println("========================================");
  Serial.println("  DFRobot N20 Motor");
  Serial.println("  Motor Control Example");
  Serial.println("========================================");
  if (!motor.begin()) {
    Serial.println("[ERROR] Motor initialization failed, please check pin configuration.");
    while (1) {
      delay(100);
    }
  }
  Serial.print("[OK] Motor initialized (INA PWM pin: ");
  Serial.print(N20_INA_PWM_PIN);
  Serial.print(", INB PWM pin: ");
  Serial.print(N20_INB_PWM_PIN);
  Serial.println(")");
  Serial.println("Start speed control loop...");
  Serial.println();
}

void loop()
{
  Serial.println("-> Speed 200");
  motor.setSpeed(200);
  delay(2000);
  Serial.println("-> Speed 0");
  motor.setSpeed(0);
  delay(2000);
  Serial.println("-> Speed -200");
  motor.setSpeed(-200);
  delay(2000);
  Serial.println("-> Speed 0");
  motor.setSpeed(0);
  delay(2000);

  Serial.println();
}

Result

Upload the code and open the Serial Monitor (Baud rate: 115200). After successful initialization, the motor automatically cycles through the sequence: forward rotation for 2s → stop for 2s → reverse rotation for 2s → stop for 2s. The serial port prints the current speed status in real time. See the figure below for output results.