A stepper motor to satisfy all your robotics needs! This 4-wire bipolar stepper has 1.8° per step for smooth motion and a nice holding torque. The motor was specified to have a max current of 350mA so that it could be driven easily with an Adafruit motor shield for Arduino (or other motor driver) and a wall adapter or lead-acid battery.

Some nice details include a ready-to-go cable and a machined drive shaft (so you can easily attach stuff). We drove it with an Adafruit motor shield for Arduino and it hummed along nicely at 50 RPM. To connect to our shield, put the wires in this order: Red, Yellow, skip ground, Green, Brown (or Gray)

This tiny, cylindrical gearmotor consists of a coreless brushed DC motor and a 136:1 plastic planetary gearbox. The entire assembly has a diameter of just 6 mm (0.24″) and an extremely light weight of 1.25 g (0.044 oz), making it a great actuator for miniature robots and very small mechanisms.Key specs at 6 V: 500 RPM and 45 mA free-run, 8 oz-in (0.6 kg-cm) and 400 mA stall.

26:1 sub-micro plastic planetary gearmotor next to a micro metal gearmotor and a LEGO Minifigure for size reference.

Sub-micro plastic planetary gearmotors. Gear ratios from top to bottom: 700:1, 136:1, 26:1.

These tiny brushed DC gearmotors have a diameter of just 6 mm and weigh just over a gram, which makes them great actuators for miniature robots and very small mechanisms. They consist of a coreless motor fastened to a planetary gearbox by a small clip. The gears are made from liquid crystal polymers (LCPs), and gearbox’s nylon output shaft is compatible with our 14 mm wheels. Three gear ratios are available:

26:1, which has a free run speed of 2500 RPM and stall torque of 1.5 oz-in (110 g-cm) at 6 V

136:1, which has a free run speed of 500 RPM and stall torque of 8 oz-in (550 g-cm) at 6 V

700:1, which has a free run speed of 90 RPM and stall torque of 12 oz-in (900 g-cm) at 6 V

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. For these gearboxes, the recommended upper limit for instantaneous torque is 3.5 oz-in (250 g-cm); we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes; a general recommendation for brushed DC motor operation is 25% or less of the stall current.

The intended nominal operating voltage for these motors is 3 V to 6 V, though in general, these kinds of motors can be used at voltages outside this range (rotation typically starts between 0.2 V and 0.3 V). Lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor. When operating at 3 V, the free-run speed, stall torque, and stall current will all be approximately half of what they are at 6 V as these specifications scale roughly linearly with voltage.

Since the gearmotor’s output shaft is nylon, there can be small variances in the diameter from unit to unit. These variations might cause press-fit attachments like our 14 mm wheel to fit loosely in some instances. If you experience a loose fit, you could try swapping wheels or using a small dab of glue to help hold the wheel on.

The following diagram shows the micro plastic gearmotor dimensions in mm. The planetary gearbox has a D-shaped plastic output shaft, which is 2 mm in diameter with a section that is flattened by 0.5 mm. The “D” portion of the shaft is 2.5 mm long. The motor measures 6 mm in diameter and 9.3 mm in length, and the gearbox length, labeled “L” in the diagram below, depends on the gear ratio.

Dimensions of the Sub-Micro Plastic Planetary Gearmotors. Units are mm over [inches].

This dimension diagram is also available as a downloadable PDF (92k pdf).

These motors originally shipped with leads that extended approximately 2 cm (0.8″) from the back of the motor, but we began transitioning to shipping units with much longer leads (approximately 12.5 cm, or 5″) in January, 2017. These leads are pre-stripped and unterminated (i.e. they do not end in a connector).

The micro plastic gearmotor’s output shaft is compatible with our 14 mm wheels. We do not have any brackets for this gearmotor, and it does not have any mounting holes, but its compact size makes it easy to fasten with tape or glue. Alternatively, since this gearmotor is nearly the same size as a 1/4″ fuse, it can be mounted using standard 1/4″ (6 mm) fuse clips, which can be found at places like Radio Shack and Digi-Key.

Sub-micro plastic planetary gearmotor with a 14×4.5mm wheel.

26:1 sub-micro plastic planetary gearmotor being held by a 1/4″ (6 mm) fuse clip.

People often buy this product together with:

This gearmotor consists of a low-power, 6 V brushed DC motor combined with a 98.78:1 metal spur gearbox, and it has an integrated 48 CPR quadrature encoder on the motor shaft, which provides 4741.44 counts per revolution of the gearbox’s output shaft. The gearmotor is cylindrical, with a diameter just under 25 mm, and the D-shaped output shaft is 4 mm in diameter and extends 12.5 mm from the face plate of the gearbox.Key specs at 6 V: 58 RPM and 250 mA free-run, 130 oz-in (9.4 kg-cm) and 2.4 A stall.

These cylindrical brushed DC gearmotors are available in a wide range of gear ratios and with five different motors (two power levels of 6V motors and three power levels of 12V motors). The gearmotors all have the same 25 mm diameter case and 4 mm diameter gearbox output shaft, so it is generally easy to swap one version for another if your design requirements change (though the length of the gearbox tends to increase with the gear ratio). All versions are also available with an integrated 48 CPR quadrature encoder on the motor shaft. Please see the 25D metal gearmotor comparison table for detailed specifications of all our 25D metal gearmotors. This dynamically-sortable table can help you find the gearmotor that offers the best blend of speed, torque, and current-draw for your particular application. A more basic comparison table is available below:

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. For these gearboxes, the recommended upper limit for instantaneous torque is 200 oz-in (15 kg-cm); we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of a second) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP) motors; a general recommendation for brushed DC motor operation is 25% or less of the stall current.

In general, these kinds of motors can run at voltages above and below their nominal voltages; lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.

Exact gear ratio: ``(22×22×22×22×22×23) / (12×10×10×10×10×10) ~~bb(98.78:1)``

The diagram below shows the dimensions of the 25D mm line of gearmotors (units are mm over [inches]). This diagram is also available as a downloadable PDF (223k pdf).

Dimensions of the Pololu 25D mm metal gearmotors. Units are mm over [inches].

The face plate has two mounting holes threaded for M3 screws. You can use our custom-designed 25D mm metal gearmotor bracket (shown in the picture below) to mount the gearmotor to your project via these mounting holes and the screws that come with the bracket.

Pololu 25D mm metal gearmotor bracket pair.

Pololu 25D mm gearmotor with bracket.

The 4 mm diameter gearbox output shaft works with Pololu universal aluminum mounting hub for 4mm shafts, which can be used to mount our larger Pololu wheels (60mm-, 70mm-, 80mm-, and 90mm-diameter) or custom wheels and mechanisms to the gearmotor’s output shaft as shown in the left picture below. Alternatively, you could use our 4mm scooter wheel adapter to mount many common scooter, skateboard, and inline skate wheels to the gearmotor’s output shaft as shown in the right picture below.

Pololu 60×8mm wheel on a Pololu 25D mm metal gearmotor.

A 25D mm gearmotor connected to a scooter wheel by the 4 mm scooter wheel adapter.

These are the same type of motors used in the Wild Thumper all-terrain chassis, so the gearbox’s output shaft also works directly with the hex adapters included with the 120mm-diameter Wild Thumper wheels (the left picture below shows a 25D mm gearmotor while the right picture shows the smaller 20D mm gearmotor):

Dagu Wild Thumper wheel 120×60mm (chrome) with Pololu 25D mm metal gearmotor.

Dagu Wild Thumper wheel 120×60mm (metallic red) with Pololu 20D mm metal gearmotor.

12mm Hex Wheel Adapter for 4mm Shaft on a 20D mm Metal Gearmotor.

We have a number of motor controllers and motor drivers that work with these 25D mm metal gearmotors. For the LP and MP versions, we recommend our MC33296-based motor drivers, for which we have basic single and dual carriers and a dual-channel shield for Arduino. For the HP versions, we recommend our VNH5019-based motor drivers (available as single and dual carriers), though these can also be a good choice for the lower-power motors because they will run much cooler than the MC33926 carriers. If you are looking for higher-level control interfaces, such as USB, RC, analog voltages, or TTL serial, consider our Simple Motor Controllers, Jrk motor controllers, or TReX motor controllers; these controllers are available in various power levels, and the appropriate one depends on the particular version of 25D mm motor you have (we generally recommend a motor controller that can handle continuous currents above the stall current of your motor).

Pololu dual VNH5019 motor driver shield for Arduino.

Pololu TReX Dual Motor Controller.

Simple Motor Controller 18v7, fully assembled.

We have an assortment of Hall effect-based current sensors to choose from for those who need to monitor motor current:

ACS711EX current sensor carrier -15.5A to +15.5A.

ACS714 current sensor carrier -5A to +5A.

25D mm metal gearmotor with 48 CPR encoder: close-up view of encoder.

The versions of these gearmotors with encoders use a A two-channel Hall effect sensor to detect the rotation of a magnetic disk on a rear protrusion of the motor shaft. The quadrature encoder provides a resolution of 48 counts per revolution of the motor shaft when counting both edges of both channels. To compute the counts per revolution of the gearbox output, multiply the gear ratio by 48. The motor/encoder has six color-coded, 8″ (20 cm) leads terminated by a 1×6 female header with a 0.1″ pitch, as shown in the main product picture. This header works with standard 0.1″ male headers and our male jumper and precrimped wires. If this header is not convenient for your application, you can pull the crimped wires out of the header or cut the header off. The following table describes the wire functions:

The Hall sensor requires an input voltage, Vcc, between 3.5 and 20 V and draws a maximum of 10 mA. The A and B outputs are square waves from 0 V to Vcc approximately 90° out of phase. The frequency of the transitions tells you the speed of the motor, and the order of the transitions tells you the direction. The following oscilloscope capture shows the A and B (yellow and white) encoder outputs using a motor voltage of 6 V and a Hall sensor Vcc of 5 V:

Encoder A and B outputs for 25D mm HP 6V metal gearmotor with 48 CPR encoder (motor running at 6 V).

By counting both the rising and falling edges of both the A and B outputs, it is possible to get 48 counts per revolution of the motor shaft. Using just a single edge of one channel results in 12 counts per revolution of the motor shaft, so the frequency of the A output in the above oscilloscope capture is 12 times the motor rotation frequency.

We offer a wide selection of metal gearmotors that offer different combinations of speed and torque. Our metal gearmotor comparison table can help you find the motor that best meets your project’s requirements.

Some of the Pololu metal gearmotors.

People often buy this product together with:

This 200:1 gearbox with brushed DC motor has a low-current motor and provides power and speed that is comparable to an RC servo at a fraction of the cost. At 6 V, it has a free-run speed of 51 RPM and a stall torque of approximately 100 oz-in. Though the product picture shows two gearmotors, this product is for a single motor.

Pololu plastic gearmotor 90 deg. output with opened gearbox.

This 200:1 plastic gearmotor (gearbox with brushed DC motor) is a great low-cost alternative to modified hobby servos or Tamiya gearboxes. The low-current motor is a perfect match for our qik 2s9v1 dual serial motor controller, Baby Orangutan robot controller, or DRV8833 dual motor driver carrier, and the compact size makes this unit an attractive choice for small robot designs. The recommended operating voltage range for this motor is 3 – 12 V.

This is a higher-torque, lower-speed version of the 120:1 plastic gearmotor 90-degree output. At 6 V, the gearbox and motor provide approximately 100 oz-in of torque and 51 RPM. The free-running current is 70 mA, and the stall current is 800 mA. The gearbox is protected by a built-in safety clutch that will typically slip before gear teeth can shear.

This gearmotor comes pre-assembled, with the gears fully enclosed, and the output shaft is 6 mm long and 7 mm in diameter with two sides flattened. The output shaft is at a 90° angle from the axis of the motor shaft; we also sell a similar gearmotor with an offset output shaft.

There are two built-in mounting holes that work with our stamped aluminum L-bracket and extended stamped aluminum L-bracket, as shown in the pictures below:

Plastic gearmotor with 90-degree output (item #1120 or #1121) mounted with Pololu stamped aluminum L-bracket.

Plastic gearmotor with 90-degree output (item #1120 or #1121) mounted with Pololu extended stamped aluminum L-bracket.

A custom-molded GMPW plastic wheel for this gearmotor is available in a variety of colors.

Dimensions (in mm) of the 120:1 and 200:1 plastic gearmotors with 90-degree outputs.

You can download a pdf version of this drawing here (104k pdf).

People often buy this product together with:

This gearmotor is a miniature low-power, 6 V brushed DC motor with a 9.96:1 metal gearbox. It has a cross section of 10 × 12 mm, and the D-shaped gearbox output shaft is 9 mm long and 3 mm in diameter.Key specs at 6 V: 1300 RPM and 40 mA with no load, 2 oz-in (0.2 kg-cm) and 0.36 A at stall.

These tiny brushed DC gearmotors are available in a wide range of gear ratios—from 5:1 up to 1000:1—and with five different motors: high-power 6 V and 12 V motors with long-life carbon brushes (HPCB), and high-power (HP), medium power (MP), and low power (LP) 6 V motors with shorter-life precious metal brushes. The 6 V and 12 V HPCB motors offer the same performance at their respective nominal voltages, just with the 12 V motor drawing half the current of the 6 V motor. The 6 V HPCB and 6 V HP motors are identical except for their brushes, which only affect the lifetime of the motor.

The HPCB versions (shown on the left in the picture below) can be differentiated from versions with precious metal brushes (shown on the right) by their copper-colored terminals. Note that the HPCB terminals are 0.5 mm wider than those on the other micro metal gearmotor versions (2 mm vs. 1.5 mm), and they are about 1 mm closer together (6 mm vs. 7 mm).

Versions of these gearmotors are also available with an additional 1 mm-diameter output shaft that protrudes from the rear of the motor. This 4.5 mm-long rear shaft rotates at the same speed as the input to the gearbox and offers a way to add an encoder, such as our magnetic encoder for micro metal gearmotors (see the picture on the right), to provide motor speed or position feedback.

With the exception of the 1000:1 gear ratio versions, all of the micro metal gearmotors have the same physical dimensions, so one version can be easily swapped for another if your design requirements change.

Please see the micro metal gearmotor datasheet (2MB pdf) for more information, including detailed performance graphs for each micro metal gearmotor version. You can also use our dynamically sortable micro metal gearmotor comparison table for search for the gearmotor that offers the best blend of speed, torque, and current-draw for your particular application. A more basic comparison table is available below.

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. The recommended upper limit for instantaneous torque is 35 oz-in (2.5 kg-cm) for the 1000:1 gearboxes and 25 oz-in (2 kg*cm) for all the other gear ratios; we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP and HPCB) motors; a general recommendation for brushed DC motor operation is 25% or less of the stall current.

In general, these kinds of motors can run at voltages above and below their nominal voltages; lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.

Exact gear ratio: ``(35×37) / (13×10) ~~ bb(9.96:1)``

In terms of size, these gearmotors are very similar to Sanyo’s popular 12 mm NA4S DC gearmotors, and gearmotors with this form factor are occasionally referred to as N20 motors. The versions with carbon brushes (HPCB) have slightly different terminal and end-cap dimensions than the versions with precious metal brushes, but all of the other dimensions are identical.

Dimensions of versions with carbon brushes (HPCB)

Dimensions of the Pololu micro metal gearmotors with carbon brushes (HPCB). Units are mm over [inches].

Dimensions of versions with precious metal brushes (LP, MP, and HP)

Dimensions of the Pololu micro metal gearmotors with precious metal brushes: low-power (LP), medium-power (MP), and high-power (HP). Units are mm over [inches].

These diagrams are also available as a downloadable PDF (262k pdf).

Wheels and hubs: The micro metal gearmotor’s output shaft matches our assortment of Pololu wheels and the Solarbotics RW2i rubber wheel. You can also use our Pololu universal mounting hubs to mount custom wheels and mechanism to the micro metal gearmotor’s output shaft, and you can use our 12mm hex wheel adapter to use this motor with many common hobby RC wheels.

Pololu wheel 32×7mm on a micro metal gearmotor.

Black Pololu 70×8mm wheel on a Pololu micro metal gearmotor.

A pair of Pololu universal aluminum mounting hubs for 3 mm diameter shafts.

12mm Hex Wheel Adapter for 3mm Shaft on a Micro Metal Gearmotor.

Mounting brackets: Our mounting bracket (also available in white) and extended mounting bracket are specifically designed to securely mount the gearmotor while enclosing the exposed gears. We recommend the extended mounting bracket for wheels with recessed hubs, such as the Pololu wheel 42×19mm. Our micro metal gearmotors will also work with our 15.5D mm metal gearmotor bracket pair.

Black micro metal gearmotor mounting bracket pair with included screws and nuts.

White micro metal gearmotor mounting bracket pair with included screws and nuts.

Pololu micro metal gearmotor bracket extended with micro metal gearmotor.

Quadrature encoders: We offer several quadrature encoders that work with our micro metal gearmotors.

Magnetic Encoder Kit for Micro Metal Gearmotors assembled with ribbon cable wires.

Example of an installed micro metal gearmotor reflective optical encoder.

Note: The HPCB versions of our micro metal gearmotors are not compatible with our #2590 and #2591 optical encoders or our older #2598 magnetic encoders (the terminals are too wide to fit through the corresponding holes in the encoder boards). However, they are compatible with our newer #3081 magnetic encoders.

Motor controllers and drivers: We have a number of motor controllers, motor drivers, and robot controllers that make it easy to drive these micro metal gearmotors. For the 6 V micro metal gearmotors, consider the DRV8838 single-channel motor driver carrier, the DRV8833 dual motor driver carrier, and DRV8835 dual motor driver carrier (or DRV8835 shield for Arduino). For the 12 V micro metal gearmotors, consider the MAX14870 single-channel motor driver carrier, DRV8801 single-channel motor driver carrier, and A4990 dual motor driver carrier (or A4990 shield for Arduino).

DRV8838 Single Brushed DC Motor Driver Carrier.

Pololu A4990 Dual Motor Driver Shield for Arduino, bottom view.

DRV8835 dual motor driver carrier.

Current sensors: We have an assortment of Hall effect-based current sensors to choose from for those who need to monitor motor current:

ACS711EX current sensor carrier -15.5A to +15.5A.

ACS714 current sensor carrier -5A to +5A.

We also incorporate these motors into some of our products, including our Zumo robot and 3pi robot :

Assembled Zumo 32U4 robot.

Pololu 3pi robot.

We offer a wide selection of metal gearmotors that offer different combinations of speed and torque. Our metal gearmotor comparison table can help you find the motor that best meets your project’s requirements.

Some of the Pololu metal gearmotors.

People often buy this product together with:

This gearmotor is a miniature low-power, 6 V brushed DC motor with a 100.37:1 metal gearbox. It has a cross section of 10 × 12 mm, and the D-shaped gearbox output shaft is 9 mm long and 3 mm in diameter.Key specs at 6 V: 120 RPM and 40 mA with no load, 12 oz-in (0.9 kg-cm) and 0.36 A at stall.

These tiny brushed DC gearmotors are available in a wide range of gear ratios—from 5:1 up to 1000:1—and with five different motors: high-power 6 V and 12 V motors with long-life carbon brushes (HPCB), and high-power (HP), medium power (MP), and low power (LP) 6 V motors with shorter-life precious metal brushes. The 6 V and 12 V HPCB motors offer the same performance at their respective nominal voltages, just with the 12 V motor drawing half the current of the 6 V motor. The 6 V HPCB and 6 V HP motors are identical except for their brushes, which only affect the lifetime of the motor.

The HPCB versions (shown on the left in the picture below) can be differentiated from versions with precious metal brushes (shown on the right) by their copper-colored terminals. Note that the HPCB terminals are 0.5 mm wider than those on the other micro metal gearmotor versions (2 mm vs. 1.5 mm), and they are about 1 mm closer together (6 mm vs. 7 mm).

Versions of these gearmotors are also available with an additional 1 mm-diameter output shaft that protrudes from the rear of the motor. This 4.5 mm-long rear shaft rotates at the same speed as the input to the gearbox and offers a way to add an encoder, such as our magnetic encoder for micro metal gearmotors (see the picture on the right), to provide motor speed or position feedback.

With the exception of the 1000:1 gear ratio versions, all of the micro metal gearmotors have the same physical dimensions, so one version can be easily swapped for another if your design requirements change.

Please see the micro metal gearmotor datasheet (2MB pdf) for more information, including detailed performance graphs for each micro metal gearmotor version. You can also use our dynamically sortable micro metal gearmotor comparison table for search for the gearmotor that offers the best blend of speed, torque, and current-draw for your particular application. A more basic comparison table is available below.

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. The recommended upper limit for instantaneous torque is 35 oz-in (2.5 kg-cm) for the 1000:1 gearboxes and 25 oz-in (2 kg*cm) for all the other gear ratios; we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP and HPCB) motors; a general recommendation for brushed DC motor operation is 25% or less of the stall current.

In general, these kinds of motors can run at voltages above and below their nominal voltages; lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.

Exact gear ratio: ``(35×37×35×38) / (12×11×13×10) ~~ bb(100.37:1)``

In terms of size, these gearmotors are very similar to Sanyo’s popular 12 mm NA4S DC gearmotors, and gearmotors with this form factor are occasionally referred to as N20 motors. The versions with carbon brushes (HPCB) have slightly different terminal and end-cap dimensions than the versions with precious metal brushes, but all of the other dimensions are identical.

Dimensions of versions with carbon brushes (HPCB)

Dimensions of the Pololu micro metal gearmotors with carbon brushes (HPCB). Units are mm over [inches].

Dimensions of versions with precious metal brushes (LP, MP, and HP)

Dimensions of the Pololu micro metal gearmotors with precious metal brushes: low-power (LP), medium-power (MP), and high-power (HP). Units are mm over [inches].

These diagrams are also available as a downloadable PDF (262k pdf).

Wheels and hubs: The micro metal gearmotor’s output shaft matches our assortment of Pololu wheels and the Solarbotics RW2i rubber wheel. You can also use our Pololu universal mounting hubs to mount custom wheels and mechanism to the micro metal gearmotor’s output shaft, and you can use our 12mm hex wheel adapter to use this motor with many common hobby RC wheels.

Pololu wheel 32×7mm on a micro metal gearmotor.

Black Pololu 70×8mm wheel on a Pololu micro metal gearmotor.

A pair of Pololu universal aluminum mounting hubs for 3 mm diameter shafts.

12mm Hex Wheel Adapter for 3mm Shaft on a Micro Metal Gearmotor.

Mounting brackets: Our mounting bracket (also available in white) and extended mounting bracket are specifically designed to securely mount the gearmotor while enclosing the exposed gears. We recommend the extended mounting bracket for wheels with recessed hubs, such as the Pololu wheel 42×19mm. Our micro metal gearmotors will also work with our 15.5D mm metal gearmotor bracket pair.

Black micro metal gearmotor mounting bracket pair with included screws and nuts.

White micro metal gearmotor mounting bracket pair with included screws and nuts.

Pololu micro metal gearmotor bracket extended with micro metal gearmotor.

Quadrature encoders: We offer several quadrature encoders that work with our micro metal gearmotors.

Magnetic Encoder Kit for Micro Metal Gearmotors assembled with ribbon cable wires.

Example of an installed micro metal gearmotor reflective optical encoder.

Note: The HPCB versions of our micro metal gearmotors are not compatible with our #2590 and #2591 optical encoders or our older #2598 magnetic encoders (the terminals are too wide to fit through the corresponding holes in the encoder boards). However, they are compatible with our newer #3081 magnetic encoders.

Motor controllers and drivers: We have a number of motor controllers, motor drivers, and robot controllers that make it easy to drive these micro metal gearmotors. For the 6 V micro metal gearmotors, consider the DRV8838 single-channel motor driver carrier, the DRV8833 dual motor driver carrier, and DRV8835 dual motor driver carrier (or DRV8835 shield for Arduino). For the 12 V micro metal gearmotors, consider the MAX14870 single-channel motor driver carrier, DRV8801 single-channel motor driver carrier, and A4990 dual motor driver carrier (or A4990 shield for Arduino).

DRV8838 Single Brushed DC Motor Driver Carrier.

Pololu A4990 Dual Motor Driver Shield for Arduino, bottom view.

DRV8835 dual motor driver carrier.

Current sensors: We have an assortment of Hall effect-based current sensors to choose from for those who need to monitor motor current:

ACS711EX current sensor carrier -15.5A to +15.5A.

ACS714 current sensor carrier -5A to +5A.

We also incorporate these motors into some of our products, including our Zumo robot and 3pi robot :

Assembled Zumo 32U4 robot.

Pololu 3pi robot.

We offer a wide selection of metal gearmotors that offer different combinations of speed and torque. Our metal gearmotor comparison table can help you find the motor that best meets your project’s requirements.

Some of the Pololu metal gearmotors.

People often buy this product together with:

This gearmotor is a miniature high-power, 6 V brushed DC motor with a 100.37:1 metal gearbox. It has a cross section of 10 × 12 mm, and the D-shaped gearbox output shaft is 9 mm long and 3 mm in diameter. This version also has a 4.5 × 1 mm extended motor shaft.Key specs at 6 V: 320 RPM and 120 mA with no load, 30 oz-in (2.2 kg-cm) and 1.6 A at stall.

These tiny brushed DC gearmotors are available in a wide range of gear ratios—from 5:1 up to 1000:1—and with five different motors: high-power 6 V and 12 V motors with long-life carbon brushes (HPCB), and high-power (HP), medium power (MP), and low power (LP) 6 V motors with shorter-life precious metal brushes. The 6 V and 12 V HPCB motors offer the same performance at their respective nominal voltages, just with the 12 V motor drawing half the current of the 6 V motor. The 6 V HPCB and 6 V HP motors are identical except for their brushes, which only affect the lifetime of the motor.

The HPCB versions (shown on the left in the picture below) can be differentiated from versions with precious metal brushes (shown on the right) by their copper-colored terminals. Note that the HPCB terminals are 0.5 mm wider than those on the other micro metal gearmotor versions (2 mm vs. 1.5 mm), and they are about 1 mm closer together (6 mm vs. 7 mm).

Versions of these gearmotors are also available with an additional 1 mm-diameter output shaft that protrudes from the rear of the motor. This 4.5 mm-long rear shaft rotates at the same speed as the input to the gearbox and offers a way to add an encoder, such as our magnetic encoder for micro metal gearmotors (see the picture on the right), to provide motor speed or position feedback.

With the exception of the 1000:1 gear ratio versions, all of the micro metal gearmotors have the same physical dimensions, so one version can be easily swapped for another if your design requirements change.

Please see the micro metal gearmotor datasheet (2MB pdf) for more information, including detailed performance graphs for each micro metal gearmotor version. You can also use our dynamically sortable micro metal gearmotor comparison table for search for the gearmotor that offers the best blend of speed, torque, and current-draw for your particular application. A more basic comparison table is available below.

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. The recommended upper limit for instantaneous torque is 35 oz-in (2.5 kg-cm) for the 1000:1 gearboxes and 25 oz-in (2 kg*cm) for all the other gear ratios; we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP and HPCB) motors; a general recommendation for brushed DC motor operation is 25% or less of the stall current.

In general, these kinds of motors can run at voltages above and below their nominal voltages; lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.

Exact gear ratio: ``(35×37×35×38) / (12×11×13×10) ~~ bb(100.37:1)``

In terms of size, these gearmotors are very similar to Sanyo’s popular 12 mm NA4S DC gearmotors, and gearmotors with this form factor are occasionally referred to as N20 motors. The versions with carbon brushes (HPCB) have slightly different terminal and end-cap dimensions than the versions with precious metal brushes, but all of the other dimensions are identical.

Dimensions of versions with carbon brushes (HPCB)

Dimensions of the Pololu micro metal gearmotors with carbon brushes (HPCB). Units are mm over [inches].

Dimensions of versions with precious metal brushes (LP, MP, and HP)

Dimensions of the Pololu micro metal gearmotors with precious metal brushes: low-power (LP), medium-power (MP), and high-power (HP). Units are mm over [inches].

These diagrams are also available as a downloadable PDF (262k pdf).

Wheels and hubs: The micro metal gearmotor’s output shaft matches our assortment of Pololu wheels and the Solarbotics RW2i rubber wheel. You can also use our Pololu universal mounting hubs to mount custom wheels and mechanism to the micro metal gearmotor’s output shaft, and you can use our 12mm hex wheel adapter to use this motor with many common hobby RC wheels.

Pololu wheel 32×7mm on a micro metal gearmotor.

Black Pololu 70×8mm wheel on a Pololu micro metal gearmotor.

A pair of Pololu universal aluminum mounting hubs for 3 mm diameter shafts.

12mm Hex Wheel Adapter for 3mm Shaft on a Micro Metal Gearmotor.

Mounting brackets: Our mounting bracket (also available in white) and extended mounting bracket are specifically designed to securely mount the gearmotor while enclosing the exposed gears. We recommend the extended mounting bracket for wheels with recessed hubs, such as the Pololu wheel 42×19mm. Our micro metal gearmotors will also work with our 15.5D mm metal gearmotor bracket pair.

Black micro metal gearmotor mounting bracket pair with included screws and nuts.

White micro metal gearmotor mounting bracket pair with included screws and nuts.

Pololu micro metal gearmotor bracket extended with micro metal gearmotor.

Quadrature encoders: We offer several quadrature encoders that work with our micro metal gearmotors.

Magnetic Encoder Kit for Micro Metal Gearmotors assembled with ribbon cable wires.

Example of an installed micro metal gearmotor reflective optical encoder.

Note: The HPCB versions of our micro metal gearmotors are not compatible with our #2590 and #2591 optical encoders or our older #2598 magnetic encoders (the terminals are too wide to fit through the corresponding holes in the encoder boards). However, they are compatible with our newer #3081 magnetic encoders.

Motor controllers and drivers: We have a number of motor controllers, motor drivers, and robot controllers that make it easy to drive these micro metal gearmotors. For the 6 V micro metal gearmotors, consider the DRV8838 single-channel motor driver carrier, the DRV8833 dual motor driver carrier, and DRV8835 dual motor driver carrier (or DRV8835 shield for Arduino). For the 12 V micro metal gearmotors, consider the MAX14870 single-channel motor driver carrier, DRV8801 single-channel motor driver carrier, and A4990 dual motor driver carrier (or A4990 shield for Arduino).

DRV8838 Single Brushed DC Motor Driver Carrier.

Pololu A4990 Dual Motor Driver Shield for Arduino, bottom view.

DRV8835 dual motor driver carrier.

Current sensors: We have an assortment of Hall effect-based current sensors to choose from for those who need to monitor motor current:

ACS711EX current sensor carrier -15.5A to +15.5A.

ACS714 current sensor carrier -5A to +5A.

We also incorporate these motors into some of our products, including our Zumo robot and 3pi robot :

Assembled Zumo 32U4 robot.

Pololu 3pi robot.

We offer a wide selection of metal gearmotors that offer different combinations of speed and torque. Our metal gearmotor comparison table can help you find the motor that best meets your project’s requirements.

Some of the Pololu metal gearmotors.

People often buy this product together with:

Add even more power to your robot with this metal-geared servo. The tiny little servo can rotate approximately 180 degrees (~90 in each direction), and works just like the standard kinds you're used to but smaller. You can use any servo code, hardware or library to control these servos. Good for beginners who want to make stuff move without building a motor controller with feedback & gear box, especially since it will fit in small places. Despite its size, this micro-servo is as strong as many 'standard' size servos! Works great with the Motor Shield for Arduino, our 16-channel Servo Driver, or by just wiring up with the Servo library. Comes with a few horns and hardware.

This micro servo packs a big punch for its little size.  it's just a little bit bigger than our High Torque Metal Gear Micro Servo but runs with almost double the stall torque.

To control with an Arduino, we suggest connecting the orange control wire to pin 9 or 10 and using the Servo library included with the Arduino IDE (see here for an example sketch). Position "0" (1.5ms pulse) is middle, "90" (~2ms pulse) is all the way to the right, "-90" (~1ms pulse) is all the way to the left. Note that unlike most servos you may be familiar with, this one does not have mechanical stops!

This high-torque standard servo can rotate approximately 180 degrees (90 in each direction). You can use any servo code, hardware or library to control these servos. Good for beginners who want to make stuff move without building a motor controller with feedback & gear box. Comes with 3 horns, as shown. They aren't the highest quality servo (which is why they are less expensive) and so are not suggested for hobby planes. We now carry the Tower-Pro SG-5010.

To control with an Arduino, we suggest connecting the orange control wire to pin 9 or 10 and using the Servo library included with the Arduino IDE (see here for an example sketch). Position "0" (1.5ms pulse) is middle, "90" (~2ms pulse) is all the way to the right, "-90" (~1ms pulse) is all the way to the left.

Need to make a tiny robot? This little micro servo rotates 360 degrees fully forward or backwards, instead of moving to a single position. You can use any servo code, hardware or library to control these servos. Good for making simple moving robots. Comes with five horns and attachment screws, as shown.

Good for beginners who want to make stuff move without building a motor controller with feedback & gear box, especially since it will fit in small places. Of course, its not nearly as strong as a standard servo. Works great with the Motor Shield for Arduino, our 16-channel Servo Driver, or by just wiring up with the Servo library.

To control with an Arduino, we suggest connecting the orange control wire to pin 9 or 10 and using the Servo library included with the Arduino IDE (see here for an example sketch). Position "90" (1.5ms pulse) is stop, "180" (2ms pulse) is full speed forward, "0" (1ms pulse) is full speed backwards. They may require some simple calibration, simply tell the servo to 'stop' and then gently adjust the potentiometer in the recessed hole with a small screwdriver until the servo stops moving.

This is just about the cutest, tiniest little micro servo we could find, even smaller than the 9 gram micro servos we love so much.  It can rotate approximately 180 degrees (90 in each direction) and works just like the standard kind you're used to but much smaller.  You can use any servo code, hardware or library to control these servos. Good for beginners who want to make stuff move without building a motor controller with feedback & gear box, especially since it will fit in small places. Of course, its not nearly as strong as a standard servo. Works great with the Motor Shield for Arduino or by just wiring up with the Servo library. Comes with a few horns and hardware.

To control with an Arduino, we suggest connecting the orange control wire to pin 9 or 10 and using the Servo library included with the Arduino IDE (see here for an example sketch). Position "0" (1.5ms pulse) is middle, "90" (~2ms pulse) is all the way to the right, "-90" (~1ms pulse) is all the way to the left.

Let your robotic dreams come true with the new DC+Stepper Motor HAT from Adafruit. This Raspberry Pi add-on is perfect for any motion project as it can drive up to 4 DC or 2 Stepper motors with full PWM speed control.

Raspberry Pi and motors are not included. Works with any and all Raspberry Pi computers with 2x20 connection port.Since the Raspberry Pi does not have a lot of PWM pins, we use a fully-dedicated PWM driver chip onboard to both control motor direction and speed. This chip handles all the motor and speed controls over I2C. Only two pins (SDA & SCL) are required to drive the multiple motors, and since it's I2C you can also connect any other I2C devices or HATs to the same pins.

In fact, you can even stack multiple Motor HATs, up to 32 of them, for controlling up to 64 stepper motors or 128 DC motors (or a mix of the two) - just remember to purchase and solder in a stacking header instead of the one we include.

Motors are controlled by TB6612 MOSFET drivers with 1.2A per channel current capability (you can draw up to 3A peak for approx 20ms at a time), a big improvement over L293D drivers and there are built-in flyback diodes as well.

We even had a little space so we added a polarity protection FET on the power pins and a bit of prototyping area. And the HAT is assembled and tested here at Adafruit so all you have to do is solder on the included 2x20 plain header and the terminal blocks.

Lets check out these specs again:

4 H-Bridges: TB6612 chipset provides 1.2A per bridge with thermal shutdown protection, internal kickback protection diodes. Can run motors on 4.5VDC to 13.5VDC.

Up to 4 bi-directional DC motors with individual 8-bit speed selection (so, about 0.5% resolution)

Up to 2 stepper motors (unipolar or bipolar) with single coil, double coil, interleaved or micro-stepping.

Big terminal block connectors to easily hook up wires (18-26AWG) and power

Polarity protected 2-pin terminal block and jumper to connect external 5-12VDC power

Works best with Raspberry Pi model A+, B+, or Pi 2, but can be used with a model A or B if you purchase a 2x13 extra-tall header and solder that instead of the 2x20

Install the easy-to-use Python library, check out the examples and you're ready to go!

Comes with an assembled & tested HAT, terminal blocks, and 2x20 plain header. Some soldering is required to assemble the headers on. Stacking header not included, but we sell them in the shop so if you want to stack HATs, please pick one up at the same time.

Raspberry Pi, motors, and battery pack are not included but we have lots of motors in the shop and all our DC motors, and stepper motors work great. Check out our detailed tutorial for tons of info including schematics, wiring diagrams, python libraries and example walkthroughs.

Note: The terminal blocks included with your product may be blue or black.

This programmable module combines with a Raspberry Pi to serve as the control center of a small robot or electronics project. Its ATmega32U4 AVR microcontroller comes preloaded with an Arduino-compatible bootloader, and the board includes dual motor drivers that can deliver 1.8 A per channel to two brushed DC motors. An efficient voltage regulator (2.7 V to 11 V input) and level shifters enable it to power and communicate with a Raspberry Pi. This version (item #3117) is assembled with selected through-hole connectors and components installed for use as a Raspberry Pi add-on.

A-Star 32U4 Robot Controller LV with Raspberry Pi Bridge, bottom view with dimensions.

The A-Star 32U4 Robot Controller LV with Raspberry Pi Bridge is a programmable module well-suited for robotics applications, designed to work either as an auxiliary controller mounted to a Raspberry Pi or as a standalone control solution for a small robot. This A-Star (abbreviated A*) is based on the ATmega32U4 AVR microcontroller from Microchip (formerly Atmel), which has built-in USB functionality, and it ships with a preloaded Arduino-compatible bootloader. Its complement of peripheral hardware includes dual motor drivers capable of delivering a continuous 1.8 A per channel, along with pushbuttons, LEDs, and an optional buzzer for building a user interface. An efficient switching voltage regulator allows the controller to work over a wide range of input voltages (2.7 V to 11 V).

The robot controller board conforms to the Raspberry Pi HAT specification, allowing it to be used as an add-on for a Raspberry Pi with a 40-pin GPIO header (Model B+ or newer, including Pi 3 Model B and Model A+) . On-board level shifters make it easy to set up I²C communication and interface other signals between the two controllers, and the A-Star automatically supplies 5 V power to an attached Raspberry Pi. In this setup, the Raspberry Pi can handle the high-level robot control while relying on the A-Star for low-level tasks like reading analog sensors and controlling timing-sensitive devices (e.g. servos).

We provide a library that helps establish communication between the A-Star and a Raspberry Pi, as well as a tutorial that demonstrates how to use the library and its included example code to build such a robot.

Our comprehensive user’s guide provides the basics you need to get started with the A-Star as well as detailed technical information for advanced users.

This product requires a USB A to Micro-B cable (not included) to connect to a computer.

Driving motors with an A-Star 32U4 Robot Controller LV with Raspberry Pi Bridge on a Raspberry Pi Model B+ or Pi 2 Model B.

A-Star 32U4 Robot Controller LV (2.7 V to 11 V) configurations:

Item #3116: Surface mount components only (no through-hole components or mounting hardware)

Item #3117: Assembled with selected through-hole components for use as a Raspberry Pi add-on (Raspberry Pi mounting hardware included)

A-Star 32U4 Robot Controller SV (5.5 V to 36 V) configurations:

Item #3118: Surface mount components only (no through-hole components or mounting hardware)

Item #3119: Assembled with selected through-hole components for use as a Raspberry Pi add-on (Raspberry Pi mounting hardware included)

Dimensions: 65 mm × 56 mm (2.6″ × 2.2″)

Programmable ATmega32U4 MCU with 32 KB flash, 2.5 KB SRAM, 1 KB EEPROM, and native full-speed USB (clocked by precision 16 MHz crystal oscillator)

Preloaded with Arduino-compatible bootloader (no external programmer required)

All 26 general-purpose I/O lines from the ATmega32U4 are broken out (including PB0, PD5, and PE2); 7 of these can be used as hardware PWM outputs and 12 of these can be used as analog inputs (some I/O lines are used by on-board hardware)

Convenient 0.1″-spaced power, ground, and signal connection points

Dual bidirectional DRV8838 motor drivers (1.8 A per channel)

Buzzer option for simple sounds and music

3 user-controllable LEDs

3 user pushbuttons

Reset button

Level shifters for interfacing 5 V logic to 3.3 V Raspberry Pi

Power features:

5 V power can be sourced from USB or from a 2.7 V to 11 V external supply through on-board regulator (with several access points for connecting external power)

Switching 5 V regulator enables efficient operation

Power switch for external power inputs

Reverse-voltage protection on external power inputs

Power selection circuit allows for seamless switching between power sources while providing overcurrent protection, and feedback about which power source is selected

Provides 5 V power to Raspberry Pi

5 V power can be sourced from USB or from a 2.7 V to 11 V external supply through on-board regulator (with several access points for connecting external power)

Switching 5 V regulator enables efficient operation

Power switch for external power inputs

Reverse-voltage protection on external power inputs

Power selection circuit allows for seamless switching between power sources while providing overcurrent protection, and feedback about which power source is selected

Provides 5 V power to Raspberry Pi

6-pin ISP header for use with an external programmer

Comprehensive user’s guide

A-Star 32U4 Robot Controller LV with Raspberry Pi Bridge with included hardware.

This version of the A-Star 32U4 Robot Controller LV with Raspberry Pi Bridge (2.7 V to 11 V input voltage) is assembled with selected through-hole connectors and components for use as a Raspberry Pi expansion board, as shown in the picture above. A 2×20-pin 0.1″ female header is preinstalled to serve as a Raspberry Pi GPIO connector, and a 6-pin strip of terminal blocks and a DC power jack are mounted for motor and power connections. A buzzer is also installed, along with two 2×1-pin male headers and shorting blocks for the buzzer and battery level jumpers.

This version ships with a set of four M2.5 standoffs (11 mm length), screws, and nuts that can be used to secure the board to the Raspberry Pi at the proper height for the GPIO connector.

For a version with SMT components only, making it more suitable for standalone use and allowing customization of through-hole components, see item #3116. For example, if you want to continue to have access to the Raspberry Pi’s 40 GPIO pins while the A-Star is plugged in, you can get the SMT-only version and install a stackable 2×20-pin female header.

A major feature of the A* Robot Controller LV is its power system, which allows it to efficiently operate from a 2.7 V to 11 V external source and provide power to an attached Raspberry Pi. The input voltage is regulated to 5 V by a TPS63061 switching step-up/step-down (buck-boost) converter from Texas Instruments. (We also make a standalone regulator based on this integrated circuit.) The regulator’s flexibility in input voltage is especially well-suited for battery-powered applications in which the battery voltage begins above 5 V and drops below 5 V as the battery discharges. Without the typical restriction on the battery voltage staying above 5 V throughout its life, a wider range of battery types can be considered. For example:

A 4-cell battery holder, which might have a 6 V output with fresh alkalines or a 4.0 V output with partially discharged NiMH cells, can be used to power this A*.

A disposable 9 V battery powering the board can be discharged to under 3 V instead of cutting out at 6 V, as with typical linear or step-down regulators.

As shown in the left graph below, the LV’s 5 V switching regulator has an efficiency – defined as (Power out)/(Power in) – of 80% to 90% for most combinations of input voltage and load.

The A-Star’s components, including the microcontroller and LEDs, draw 30 mA to 40 mA in typical applications (without the buzzer). The rest of the regulator’s achievable output current, which depends on input voltage as well as ambient conditions, can be used to power other devices; this can include an attached Raspberry Pi (which typically draws a few hundred milliamps). The blue line in the right graph above shows output currents at which the voltage regulator’s over-temperature protection typically kicks in after a few seconds. These currents represent the limit of the regulator’s capability and cannot be sustained for long periods; under typical operating conditions, a safe limit for the maximum continuous regulator output current is 60% to 70% of the values shown in the graph.

Like our other A-Star 32U4 programmable controllers, the A-Star 32U4 Robot Controller ships with a preloaded Arduino-compatible bootloader (which uses 4 KB of flash memory, leaving 28 KB available for the user program). We provide a software add-on that enables the board to be easily programmed from the Arduino environment and an Arduino library to make it easy to use the additional on-board hardware.

The A-Star 32U4 Robot Controller has the same microcontroller as the Arduino Leonardo and Arduino Micro, and it runs at the same frequency, so most code examples intended for those boards should also work on the A-Star.

The A-Star 32U4 Robot Controller is a part of our larger A-Star 32U4 family, all of whose members are based on the same ATmega32U4 microcontroller, feature native USB interfaces, and are preloaded with Arduino-compatible bootloaders. The table below shows some key features and specifications of our A-Star microcontroller boards to help you choose the right one for your application.

People often buy this product together with:

The Explorer HAT Pro is a terrific prototyping side-kick for your Raspberry Pi 2, B+, or A+!

On the Explorer Pro from Pimoroni there are a heap of useful input and output options that will take your projects to the next level. Great for driving motors, using analog sensors, interfacing with 5V systems, and touch interfaces!

Features:

4x buffered 5V tolerant inputsHook up your Pi to accept input from 5V systems (like Arduino Uno/Leonardo or 5V Trinkets). We've used a 5-channel buffer that will accept anything from 2V-5V as logic high.

Hook up your Pi to accept input from 5V systems (like Arduino Uno/Leonardo or 5V Trinkets). We've used a 5-channel buffer that will accept anything from 2V-5V as logic high.

4x powered 5v outputs (up to 500mA!)The onboard darlington array can supply up to 500mA per channel (but you'll be limited to driving around 1A total from the board). Ideal for stepper motors, solenoids, and relays.

The onboard darlington array can supply up to 500mA per channel (but you'll be limited to driving around 1A total from the board). Ideal for stepper motors, solenoids, and relays.

4x capacitive touch pads + 4x capacitive alligator clip padsFour along the front edge for touch input (labelled 1, 2, 3, 4) and four up the side for attaching alligator clips to objects (such as fruit, or tin foil) for experimentation!

Four along the front edge for touch input (labelled 1, 2, 3, 4) and four up the side for attaching alligator clips to objects (such as fruit, or tin foil) for experimentation!

4x colored LEDsIndependently controllable LEDs (red, green, blue, and yellow) that make great status indicators.

Independently controllable LEDs (red, green, blue, and yellow) that make great status indicators.

1x mini breadboard on top

The Explorer HAT *Pro* also has a few additional features:

4x analog inputsA tidy way to integrate analog signals into your project.

A tidy way to integrate analog signals into your project.

2x H-bridge motor driversDrive two 5V motors bidirectionally with up to 200mA per channel. Ideal with our micro-metal gear-motors to create the perfect little buggy! You can even soft-PWM for full speed control.

Drive two 5V motors bidirectionally with up to 200mA per channel. Ideal with our micro-metal gear-motors to create the perfect little buggy! You can even soft-PWM for full speed control.

A heap of useful (unprotected) 3v3 goodies from the GPIO

And head on over to Pimoroni's GitHub to find a Python library, examples, documentation, and a brief introduction to the Explorer HAT!

The Explorer pHAT is the perfect prototyping side-kick for your Raspberry Pi. Based on Pimoroni's popular Explorer Hat Pro, this is a smaller cheaper version designed to fit perfectly on a Raspberry Pi Zero!

A heap of useful input and output options have been added that will take your projects to the next level. Great for driving motors, using analog sensors, and interfacing with 5V sensors & systems

Though designed to match the format of the Raspberry Pi Zero it is compatible with all 40-pin GPIO Raspberry Pi variants (2/B+/A+).

Features:

Python API

Four analog inputs - A tidy way to integrate analog signals into your project.

Two H-bridge motor drivers - Drive two 5V motors bidirectionally with up to 200mA per channel. Ideal with our micro-metal gear-motors to create the perfect little buggy! You can even soft-PWM for full speed control.

Four buffered 5V tolerant inputs - Hook up your Pi to accept input from 5V systems (like Arduino Uno/Leonardo or 5V Trinkets). We've used a 5-channel buffer that will accept anything from 2V-5V as logic high.

Four powered 5V outputs (up to 500mA!) - The onboard darlington array can supply up to 500mA per channel (but you'll be limited to driving around 1A total from the board). Ideal for stepper motors, solenoids, and relays.

Kit includes: Assembled Explorer HAT PCB, one 2x20 0.1" female GPIO header, and one 1x20 0.1" female header. Some light soldering is required to attach the header on, or you can of course solder the pHAT right onto the Pi Zero

Check out Pimonori's full Python library, documentation and examples.

Raspberry Pi not included!

This programmable module combines with a Raspberry Pi to serve as the control center of a small robot or electronics project. Its ATmega32U4 AVR microcontroller comes preloaded with an Arduino-compatible bootloader, and the board includes dual motor drivers that can deliver 1.7 A per channel to two brushed DC motors. An efficient voltage regulator (5.5 V to 36 V input) and level shifters enable it to power and communicate with a Raspberry Pi. This version (item #3119) is assembled with selected through-hole connectors and components installed for use as a Raspberry Pi add-on.

A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge, bottom view with dimensions.

The A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge is a programmable module well-suited for robotics applications, designed to work either as an auxiliary controller mounted to a Raspberry Pi or as a standalone control solution for a small robot. This A-Star (abbreviated A*) is based on the ATmega32U4 AVR microcontroller from Microchip (formerly Atmel), which has built-in USB functionality, and it ships with a preloaded Arduino-compatible bootloader. Its complement of peripheral hardware includes dual motor drivers capable of delivering a continuous 1.7 A per channel, along with pushbuttons, LEDs, and an optional buzzer for building a user interface. An efficient switching voltage regulator allows the controller to work over a wide range of input voltages (5.5 V to 36 V).

The robot controller board conforms to the Raspberry Pi HAT specification, allowing it to be used as an add-on for a Raspberry Pi with a 40-pin GPIO header (Model B+ or newer, including Pi 3 Model B and Model A+). On-board level shifters make it easy to set up I²C communication and interface other signals between the two controllers, and the A-Star automatically supplies 5 V power to an attached Raspberry Pi. In this setup, the Raspberry Pi can handle the high-level robot control while relying on the A-Star for low-level tasks like reading analog sensors and controlling timing-sensitive devices (e.g. servos).

We provide a library that helps establish communication between the A-Star and a Raspberry Pi, as well as a tutorial that demonstrates how to use the library and its included example code to build such a robot.

Our comprehensive user’s guide provides the basics you need to get started with the A-Star as well as detailed technical information for advanced users.

This product requires a USB A to Micro-B cable (not included) to connect to a computer.

Driving motors with an A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge on a Raspberry Pi Model B+ or Pi 2 Model B.

A-Star 32U4 Robot Controller SV (5.5 V to 36 V) configurations:

Item #3118: Surface mount components only (no through-hole components or mounting hardware)

Item #3119: Assembled with selected through-hole components for use as a Raspberry Pi add-on (Raspberry Pi mounting hardware included)

A-Star 32U4 Robot Controller LV (2.7 V to 11 V) configurations:

Item #3116: Surface mount components only (no through-hole components or mounting hardware)

Item #3117: Assembled with selected through-hole components for use as a Raspberry Pi add-on (Raspberry Pi mounting hardware included)

Dimensions: 65 mm × 56 mm (2.6″ × 2.2″)

Programmable ATmega32U4 MCU with 32 KB flash, 2.5 KB SRAM, 1 KB EEPROM, and native full-speed USB (clocked by precision 16 MHz crystal oscillator)

Preloaded with Arduino-compatible bootloader (no external programmer required)

All 26 general-purpose I/O lines from the ATmega32U4 are broken out (including PB0, PD5, and PE2); 7 of these can be used as hardware PWM outputs and 12 of these can be used as analog inputs (some I/O lines are used by on-board hardware)

Convenient 0.1″-spaced power, ground, and signal connection points

Dual bidirectional MAX14870 motor drivers (1.7 A continuous per channel, 2.5 A peak per channel)

Buzzer option for simple sounds and music

3 user-controllable LEDs

3 user pushbuttons

Reset button

Level shifters for interfacing 5 V logic to 3.3 V Raspberry Pi

Power features:

5 V power can be sourced from USB or from 5.5 V to 36 V external supply through on-board regulator (with several access points for connecting external power)

Switching 5 V regulator enables efficient operation

Power switch for external power inputs

Reverse-voltage protection on external power inputs

Power selection circuit allows for seamless switching between power sources while providing overcurrent protection, and feedback about which power source is selected

Provides 5 V power to Raspberry Pi

5 V power can be sourced from USB or from 5.5 V to 36 V external supply through on-board regulator (with several access points for connecting external power)

Switching 5 V regulator enables efficient operation

Power switch for external power inputs

Reverse-voltage protection on external power inputs

Power selection circuit allows for seamless switching between power sources while providing overcurrent protection, and feedback about which power source is selected

Provides 5 V power to Raspberry Pi

6-pin ISP header for use with an external programmer

Comprehensive user’s guide

A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge with included hardware.

This version of the A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge (5.5 V to 36 V input voltage) is assembled with selected through-hole connectors and components for use as a Raspberry Pi expansion board, as shown in the picture above. A 2×20-pin 0.1″ female header is preinstalled to serve as a Raspberry Pi GPIO connector, and a 6-pin strip of terminal blocks and a DC power jack are mounted for motor and power connections. A buzzer is also installed, along with two 2×1-pin male headers and shorting blocks for the buzzer and battery level jumpers.

This version ships with a set of four M2.5 standoffs (11 mm length), screws, and nuts that can be used to secure the board to the Raspberry Pi at the proper height for the GPIO connector.

For a version with SMT components only, making it more suitable for standalone use and allowing customization of through-hole components, see item #3118. For example, if you want to continue to have access to the Raspberry Pi’s 40 GPIO pins while the A-Star is plugged in, you can get the SMT-only version and install a stackable 2×20-pin female header.

A major feature of the A* Robot Controller SV is its power system, which allows it to efficiently operate from a 5.5 V to 36 V external source and provide power to an attached Raspberry Pi. The input voltage is regulated to 5 V by an MP4423H switching step-down (buck) converter from Monolithic Power Systems. (We also make a standalone regulator based on this integrated circuit.)

As shown in the left graph below, the SV’s 5 V switching regulator has an efficiency – defined as (Power out)/(Power in) – of 80% to 95% for most combinations of input voltage and load.

The A-Star’s components, including the microcontroller and LEDs, draw 30 mA to 40 mA in typical applications (without the buzzer). The rest of the regulator’s achievable output current, which depends on input voltage as well as ambient conditions, can be used to power other devices; this can include an attached Raspberry Pi (which typically draws a few hundred milliamps). The green line in the right graph above shows the output currents where the regulator’s output voltage drops below 4.75 V. These currents are close to the limits of the regulator’s capability and generally cannot be sustained for long periods; under typical operating conditions, a safe limit for the maximum continuous regulator output current is 60% to 70% of the values shown in the graph.

The dropout voltage of a step-down regulator is defined as the minimum amount by which the input voltage must exceed the regulator’s target output voltage in order to assure the target output can be achieved. As can be seen in the graph below, the dropout voltage of the Robot Controller SV’s regulator increases approximately linearly with the output current. For light loads where the dropout voltage is small, the board can operate almost down to 5 V. However, for larger loads, the dropout voltage should be taken into consideration when selecting a power supply; operating above 6 V will ensure the full output current is available.

Note: Batteries can have much higher voltages than their nominal voltages when fully charged, so be careful with nominal voltages above 24 V. A 36 V battery is not appropriate for this product.

Like our other A-Star 32U4 programmable controllers, the A-Star 32U4 Robot Controller ships with a preloaded Arduino-compatible bootloader (which uses 4 KB of flash memory, leaving 28 KB available for the user program). We provide a software add-on that enables the board to be easily programmed from the Arduino environment and an Arduino library to make it easy to use the additional on-board hardware.

The A-Star 32U4 Robot Controller has the same microcontroller as the Arduino Leonardo and Arduino Micro, and it runs at the same frequency, so most code examples intended for those boards should also work on the A-Star.

The A-Star 32U4 Robot Controller is a part of our larger A-Star 32U4 family, all of whose members are based on the same ATmega32U4 microcontroller, feature native USB interfaces, and are preloaded with Arduino-compatible bootloaders. The table below shows some key features and specifications of our A-Star microcontroller boards to help you choose the right one for your application.

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These simple switches are the Mechanical Bumper sensor for the SparkFun RedBot, giving you the ability to detect a collision before it really happens. This sensor works by acting as a SPST switch. When the “whisker” bumps into a foreign object it will make contact with a nut next to it, closing the connection and, by default, turning off the motor. By attaching these mechanical bumpers to you robot the whisker will bump something before your robot crashes into it.

The sensor has a 3-pin header which connects directly to the RedBot Mainboard via female to female jumper wires. Use the included RedBot library to make sure your robot never crashes into anything again.

Check out the entire RedBot family of products!

Note: Our RedBot tutorials utilize two of these Mechanical Bumper Sensors. Please take this into consideration before placing your order.

Includes

1x Mechanical Bumper Board

1x Whisker

1x ¾" 4-40 Nylon Standoff

1x 4-40 Hex Nut

3x 3/8" 4-40 Phillips Machine Screw

Features

1.03 x 0.69" (26.27 x 17.67 mm)

Use this motor driver and power distribution board to get your Romi chassis running quickly. It offers all of the same features as the smaller Power Distribution board for Romi Chassis — battery contact slots, reverse voltage protection, several power switching options, and easy access to the various power busses — and adds a two-channel motor driver and powerful switching step-down regulator that can supply a continuous 2.5 A at 5 V or 3.3 V. Just add a microcontroller and sensors to complete your Romi robot.

This motor driver and power distribution board is designed specifically for the Romi chassis as a convenient way to drive the chassis’s motors and power the rest of the electronics that make up your robot. It features two DRV8838 motor drivers, one for each of the chassis’s motors, and a powerful switching step-down regulator that can supply a continuous 2.5 A at 5 V or 3.3 V. The board has slots for soldering in the Romi chassis battery contact tabs, and it incorporates the power switching and distribution functionality from the Power Distribution Board for Romi Chassis, so it offers all of the same features: reverse voltage protection, several power switching options based on the patented latching circuit from the Pololu pushbutton power switch, and easy access to the various power buses.

The board has a small pushbutton already installed for controlling power (one push turns power on and another push turns it off) and offers convenient points for connecting external pushbutton or tactile switches in parallel. It also offers several alternate pushbutton connection options that result in push-on-only or push-off-only operation, and additional inputs enable further power control options like allowing your robot to turn off its own power. Alternatively, the board can be reconfigured to disable the pushbutton circuit and give control to the small installed slide switch.

The board’s control pins and power buses are accessible through a set of 0.1″-spaced pins that are compatible with standard 0.1″ male and 0.1″ female headers, and the power buses are also accessible through a larger set of holes that are compatible with 3.5mm-pitch terminal blocks (you can combine a 2-pin block and a 3-pin block into a single 5-pin block that spans the three power holes and two ground holes).

Two 1/4″ #2-56 screws and two #2-56 nuts are included for mounting the board to the Romi chassis, and two low-profile female headers are included for connecting the motors to the board.

Installation

Motor Driver and Power Distribution Board for Romi Chassis with included hardware.

Motor Driver and Power Distribution Board for Romi Chassis mounted on a chassis prior to motor installation.

Before installing the motor driver and power distribution board on a Romi chassis, you should solder any headers, terminal blocks, wires, or other connectors you plan to use on the board. You have a few options for connecting the Romi chassis’s motors to the board:

If you plan on using the Romi Encoder Pair Kit with your motors, we recommend you solder these included female headers into the outer sets of holes (closest to the edges of the board) directly below where the motors will be. With the Romi encoders mounted on your motors and their included male header pins installed facing down, they will plug directly into these female headers when you push the motors into the motor clips.

The Romi Encoder can plug directly into the Motor Driver and Power Distribution Board for Romi Chassis.

Alternatively, if you do not intend to use Romi encoders, we recommend soldering wires to your motor leads and installing 3.5mm-pitch terminal blocks to the motor driver output holes along the front edge of the board. These terminal blocks will let you make temporary connections between your motors and the motor driver board. We suggest connecting the forward lead of each motor to the + (positive) motor output so that the motor directions will match the behavior described below.

Please read the rest of this page carefully to determine what additional connectors you might want and where they should be installed.

It is possible to remove the board from the chassis later to solder additional connections, and some of the through holes can be soldered through the slots in the chassis while the board is mounted, but soldering beforehand is easier and avoids the risk of inadvertently melting the chassis with your soldering iron.

The four battery terminals should be soldered to the board after it is mounted on the chassis, as described in the chassis assembly instructions. You will be able to remove the board and battery contacts from the chassis as a single piece after soldering.

Once your you have soldered your through-hole connections to the motor driver and power distribution board, please follow the instructions given in the Pololu Romi Chassis User’s Guide to finish assembling the chassis, mounting the control board, and soldering in the battery contacts. (The diagrams in those instructions show assembly with the larger Romi 32U4 Control Board, but the same steps apply for the smaller motor driver and power distribution board.)

Motor drivers

The motor driver and power distribution board has two Texas Instruments DRV8838 motor drivers that can power the Romi chassis’s motors. We recommend careful reading of the DRV8838 datasheet (1MB pdf) for information about the drivers.

By default, the drivers’ motor voltage (VM) is supplied by the board’s switched battery voltage, VSW, and their logic voltage (VCCMD) is supplied by the on-board regulator output, VREG (5 V by default). If you want to customize these voltages, you can cut the jumpers labeled VM = VSW and VCCMD = VREG and connect appropriate supplies to the VM and VCCMD pins.

The DRV8838 offers a simple two-pin PHASE/ENABLE control interface, which this board makes available for each motor as DIR and PWM, respectively. The DIR pin determines the motor direction (low drives the motor forward, high drives it in reverse) and the PWM pin can be supplied with a PWM signal to control the motor speed. The DIR and PWM control inputs are pulled low through weak internal pull-down resistors (approximately 100 kΩ). When the PWM pin is low, the motor outputs are both shorted to ground, which results in dynamic braking of a connected motor.

The two drivers’ SLEEP pins (labeled SLP) are connected together by default and can be driven low to put the drivers into a low-power sleep mode and turn off the motor outputs, which is useful if you want to let the motors coast. The SLEEP pins are pulled high through 10 kΩ pull-up resistors on the board so that the drivers are awake by default. In most applications, these pins can be left disconnected; if you want independent control of SLEEP on each side, you can cut the jumper labeled SLP L = R. The two SLEEP pins should not be driven separately without cutting this jumper.

The following simplified truth table shows how each driver operates:

Encoder connections

The motor driver and power distribution board is designed to allow the Romi Encoder Pair Kit to plug directly into the encoder headers. The encoders can be used to track the rotational speed and direction of the robot’s drive wheels. They provide a resolution of 12 counts per revolution of the motor shaft when counting both edges of both channels, which corresponds to approximately 1440 counts per revolution of the Romi’s wheels. For more information about the specifications of the Romi encoders, please see the Romi Encoder Pair Kit product page.

For typical use, one set of through holes on each side of the motor power and distribution board will be populated with the female header for the encoder board; we recommend using the outer set on each side for this purpose. The remaining set of through holes can be used to make connections to the encoder signals.

For both encoders, channel B leads channel A when the motor is rotating in the forward direction; that is, B rises before A rises and B falls before A falls. Note that this description designates the A and B signals as labeled on the motor driver and power distribution board itself, which puts A in front on both sides.

By default, both the logic voltage for the encoders (VCCENC) and the pull-up voltage for the open-drain encoder outputs (VPU) are supplied by the on-board regulator output, VREG (5 V by default). If you want to customize these voltages, you can cut the jumpers labeled VCCENC = VREG and VPU = VREG and connect appropriate supplies to the VCCENC and VPU pins.

Power switch circuit

By default, the on-board pushbutton can be used to toggle power: one push turns on power and another turns it off. Alternatively, a separate pushbutton can be connected to the BTNA and BTNB pins and used instead. Multiple pushbuttons can be wired in parallel for multiple control points, and each of the parallel pushbuttons, including the one on the board itself, will be able to turn the switch on or off. The latching circuit performs some button debouncing, but pushbuttons with excessive bouncing (several ms) might not function well with it.

For proper pushbutton operation, the board’s slide switch should be left in its Off position. (Sliding the switch to the On position will cause the board power to latch on, and the switch must be returned to the Off position before the board can be turned off with the pushbutton.)

Alternatively, to disable the pushbutton, you can cut the button jumper labeled Btn Jmp; this transfers control of the board’s power to the on-board slide switch instead. A separate slide or toggle switch can be connected to the GATE pin and used instead.

More advanced control options are available through the button connection pins and four control inputs:

Power distribution

The diagram below shows the layout of the power distribution buses and access points on the board.

VBAT is connected to the battery contact labeled BAT1+ and provides a direct connection to the battery supply. By default, VBAT is the high side of all six of the chassis’s AA battery cells in series, although this can be reconfigured with the battery jumper (see below).

VRP provides access to the battery voltage after reverse-voltage protection.

VSW is the battery voltage after reverse protection and the power switch circuit. By default, it provides power to the motors (VM) through the on-board motor drivers.

VREG is the output of the on-board step-down voltage regulator (see the “Voltage regulator” section below). By default, it is 5 V and provides logic power to the motor drivers (VCCMD) and encoder connectors (VCCENC and VPU).

BAT2+ provides access to the high side of two AA cells in series. This can be useful if you reconfigure the board to provide two separate battery supplies as described below.

Voltage regulator

An MP4423H switching buck converter regulates the switched battery voltage (VSW) to provide a regulated output, VREG. The regulated output is 5 V by default, but it can be changed to 3.3 V by cutting the jumper labeled VREG Select. Under typical conditions, up to 2 A of current is available from the VREG output. (We also make a standalone regulator based on this integrated circuit.)

Battery supply configuration

The motor driver and power distribution board’s default configuration provides battery power, VBAT, from all six of the chassis’s AA cells in series (nominally about 7.2 V with rechargeable batteries or 9 V with alkaline batteries). However, the board’s battery jumper, labeled Bat Jmp, allows you to reconfigure the battery connections to provide two independent supplies: BAT1, with 4 cells in series (nominally 4.8 V rechargeable or 6 V alkaline), and BAT2, with 2 cells in series (nominally 2.4 V rechargeable or 3 V alkaline). Cutting the connection between the BAT1− and BAT2+ pads separates the two sets of batteries, and using solder to bridge the BAT1− and GND pads establishes a common ground between the two new supplies.

Warning: Do not bridge the BAT1− and GND pads without first disconnecting BAT1− from BAT2+. Failing to do so could create a short circuit across the BAT2 batteries.

Note that the onboard regulator might not be able to supply 5 V as reliably if VBAT is reconfigured to come from a 4-cell supply, especially if you are using rechargeable batteries.

Schematic

A simplified schematic diagram of this board is available for download: Schematic diagram of the Motor Driver and Power Distribution Board for Romi Chassis (272k pdf)

In addition to the motor driver and power distribution board, we have a few other boards designed to mount onto a Romi chassis:

The Romi 32U4 Control Board turns the Romi chassis into an integrated robot platform. In addition to the same motor drivers and power circuit (including 5 V regulator) found on this board, the Romi 32U4 board includes an on-board ATmega32U4 microcontroller, a number of other peripherals and sensors, and interfaces for an optional LCD or Raspberry Pi.

The Power Distribution Board for Romi Chassis is a more basic board that only includes reverse voltage protection and a pushbutton power switch circuit; it is intended to be a convenient way to access the chassis’s battery power and pass it on to the rest of your electronics.

People often buy this product together with:

The Romi 32U4 Control Board turns the Romi chassis into a programmable robot based on the Arduino-compatible ATmega32U4 MCU. Its features include integrated dual motor drivers, a versatile power circuit, and inertial sensors, as well as connections for quadrature encoders and an optional LCD. The board also has the ability to interface with an added Raspberry Pi, making the foundation for a complete Raspberry Pi-controlled Romi robot.

The Romi 32U4 Control Board is designed to be assembled with a Romi chassis to create a capable integrated robot platform that can easily be programmed and customized.

Like our A-Star 32U4 programmable controllers, the Romi 32U4 Control Board is built around a USB-enabled ATmega32U4 AVR microcontroller from Microchip (formerly Atmel), and it ships preloaded with an Arduino-compatible bootloader. The control board features two H-bridge motor drivers and is designed to connect to a Romi Encoder Pair Kit (available separately) to allow closed-loop motor control. It also includes a powerful 5 V switching step-down regulator that can supply up to 2 A continuously, along with a versatile power switching and distribution circuit. A 3-axis accelerometer and gyro enable a Romi 32U4 robot to make inertial measurements, estimate its orientation, and detect external forces. Three on-board pushbuttons offer a convenient interface for user input, while indicator LEDs, a buzzer, and a connector for an optional LCD allow the robot to provide feedback.

Romi 32U4 Control Board on a Romi chassis, top view.

Romi 32U4 Control Board with LCD on a Romi chassis.

The Romi 32U4 Control Board can be used either as a standalone control solution or as a base for a more powerful Raspberry Pi controller. Its on-board connector and mounting holes allow a compatible Raspberry Pi (Model B+ or newer, including Pi 3 Model B and Model A+) to plug directly into the control board. Integrated level shifters make it easy to set up I²C communication and interface other signals between the two controllers, and the control board automatically supplies 5 V power to an attached Raspberry Pi. In this setup, the Raspberry Pi can handle the high-level robot control while relying on the Romi 32U4 Control Board for low-level tasks, like running motors, reading encoders, and interfacing with other analog or timing-sensitive devices.

Romi 32U4 Control Board with Raspberry Pi on a Romi chassis.

The I/O lines of both the ATmega32U4 and the Raspberry Pi are broken out to 0.1″-spaced through-holes along the front and rear of the control board, and the board’s power rails are similarly accessible, enabling sensors and other peripherals to easily be connected.

A software add-on is available that makes it easy to program a Romi 32U4 robot from the Arduino environment, and we have Arduino libraries and example sketches to help get you started. A USB A to Micro-B cable (not included) is required for programming.

The Romi 32U4 Control Board ships with all of its surface-mount components populated, and it includes a number of through-hole parts and mounting hardware, as shown in the picture above. Note that assembly (including soldering) is required; please see the user’s guide for assembly instructions.

The Romi chassis itself and other parts required to build a complete Romi 32U4 robot are not included; these are listed below, along with some optional additions.

What you will need

To build a robot with the Romi 32U4 Control Board, you will need a few additional parts:

a Romi Chassis Kit (this includes motors, wheels, one ball caster, and battery contacts)

a Romi Encoder Pair Kit

six AA batteries; The Romi chassis and control board work with both alkaline and NiMH batteries, though we recommend rechargeable NiMH cells

a USB A to Micro-B cable to connect the robot to your computer for programming and debugging

tools to help with kit assembly; see the user’s guide for a list of specific tools

Optional accessories

You might also consider getting these for your Romi 32U4 robot:

an 8×2 character LCD

a compatible Raspberry Pi (Model B+ or newer, including Pi 3 Model B and Model A+)

sensors

connectors (headers, jumper wires, etc) for adding those sensors or other peripherals

In addition to the Romi 32U4 Control Board, we have some more basic boards designed to mount onto a Romi chassis:

The Motor Driver and Power Distribution Board for Romi Chassis includes the same motor drivers and power circuit (including 5 V regulator) as the Romi 32U4 Control Board, but offers you flexibility in choosing and connecting your own microcontroller.

The Power Distribution Board for Romi Chassis only includes reverse voltage protection and a pushbutton power switch circuit; it is intended to be a convenient way to access the chassis’s battery power and pass it on to the rest of your electronics.

The Romi 32U4 Control Board uses the same microcontroller and includes many of the same features as some of our other programmable robots and controller boards. Consider these alternatives if you want similar electronics on a different chassis:

The Zumo 32U4 is a smaller tracked robot sized to qualify for Mini Sumo competitions and equipped with appropriate sensors. It is available fully assembled or as a kit.

The A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge shares most of the same functionality as the Romi 32U4 Control Board, including the ability to interface with a Raspberry Pi, but it is a smaller board with a more general-purpose form factor instead of being designed to work with a specific chassis. It is also available in a lower-voltage LV version.

People often buy this product together with:

The Intel® Edison is an ultra small computing platform that will change the way you look at embedded electronics. Each Edison is packed with a huge amount of tech goodies into a tiny package while still providing the same robust strength of your go-to single board computer. Powered by the Intel® Atom™ SoC dual-core CPU and including an integrated WiFi, Bluetooth LE, and a 70-pin connector to attach a veritable slew of shield-like “Blocks” which can be stacked on top of each other. It’s no wonder how this little guy is lowering the barrier of entry on the world of electronics!

This Block adds eight channels of PWM control to the Edison’s I2C bus. While the PWM output can be used for any generic PWM application, it is specifically intended to provide drive control for up to eight standard hobby-type servo motors. To that end, it has an independent input for supply voltage for the servos above the normal range of the Edison, and 8 connections that support the most common pinout of hobby servo motors. The PCA9685 equipped on this board has an independent clock that can be operated at 50Hz, for servo control; at that frequency, the 12-bit resolution of the device provides approximately 200 steps of resolution for a servo motor.

The PCA9685 can be used as an open collector current driver for LEDs up to 25mA as well. Six solder jumpers allow the user to attach up to 63 of these cards to a single Edison, or to adjust the address of the PCA9685 to avoid collision with other addresses on the bus.

If you are looking to add a little more stability to your Intel® Edison stack, check out this Hardware Pack. It will provide you with increased mechanical strength for stacking Blocks on your Edison!

Note: We are currently working on a Hookup Guide for this kit. Check back later for more updates.

The Intel® Edison is an ultra small computing platform that will change the way you look at embedded electronics. Each Edison is packed with a huge amount of tech goodies into a tiny package while still providing the same robust strength of your go-to single board computer. Powered by the Intel® Atom™ SoC dual-core CPU and including an integrated WiFi, Bluetooth LE, and a 70-pin connector to attach a veritable slew of shield-like “Blocks” which can be stacked on top of each other. It’s no wonder how this little guy is lowering the barrier of entry on the world of electronics!

The Dual H-bridge Block gives the Edison some ability to move when paired with two DC motors. This board can drive two DC motors at voltages ranging from 2.7V-15V and currents up to 1amp. This board is isolated from the Edison using a logic level converter. To use this board external power for the motors will be required. Power for the motors is supplied on the headers labled “VIN” and “GND”.

If you are looking to add a little more stability to your Intel® Edison stack, check out this Hardware Pack. It will provide you with increased mechanical strength for stacking Blocks on your Edison!

The SparkFun Servo Trigger is a small robotics board that simplifies the control of hobby RC servo motors. When an external switch or logic signal changes state, the Servo Trigger is able to tell an attached servo motor to move from position A to position B. To use the Servo Trigger, you simply connect a hobby servo and a switch, then use the on-board potentiometers to adjust the start/stop positions and the transition time. You can use a hobby servos in your projects without having to do any programming!

The heart of the Servo Trigger is an Atmel ATTiny84 microcontroller, running a small program that implements the servo control features we are discussing here. On-board each Servo Trigger you will find three potentiometers, “A” sets the position the servo sits in while the switch is open, “B” sets the position the servo moves to when the switch is closed, and “T” sets the time it takes to get from A to B and back. Compared to a servo motor, the Servo Trigger board draws very little current, roughly 5 mA at 5V. Be sure to note that if you’re using the Servo Trigger to control your motor, the absolute maximum supply voltage that should be applied is 5.5 VDC. Additionally, the SparkFun Servo Trigger is designed to make it easy to daisy chain boards – you can simply connect the VCC and GND pads on adjacent boards to each other.

Note: Check out the Hookup Guide in the Documents section below for more advanced tips, configurations, and modes!

Note: This idea originally came from our friend in the Oakland area, CTP. If you see him, please give him a high-five for us.

Features

Recommended Voltage: 5VDC

Max Voltage: 5.5VDC

Current Draw: 5 mA

Three Control Settings

A - sets the position the servo sits in while the switch is open

B - sets the position the servo moves to when the switch is closed

C - sets the time it takes to get from A to B and back

A - sets the position the servo sits in while the switch is open

B - sets the position the servo moves to when the switch is closed

C - sets the time it takes to get from A to B and back

Easy Control with Potentiometers

Configurable Input Polarity

Configurable Response Mode

Compatible with Analog Servos

ISP Header pins Available for Reprogram

The Big Easy Driver, designed by Brian Schmalz, is a stepper motor driver board for bi-polar stepper motors up to a max 2A/phase. It is based on the Allegro A4988 stepper driver chip. It’s the next version of the popular Easy Driver board.

Each Big Easy Driver can drive up to a max of 2A per phase of a bi-polar stepper motor. It is a chopper microstepping driver which defaults to 16 step microstepping mode. It can take a maximum motor drive voltage of around 30V, and includes on-board 5V/3.3V regulation, so only one supply is necessary. Although this board should be able to run most systems without active cooling while operating at 1.4-1.7A/phase, a heatsink is required for loads approaching 2A/phase. You can find the recommended heatsink in the related items below.

Note: This product is a collaboration with Brian Schmalz. A portion of each sales goes back to him for product support and continued development.

Features

Bi-polar Microstepping Driver

2A/Phase Max

1.4-1.7A/Phase w/o Heatsink

Max Motor Drive Voltage: 30V

On-board 5V/3.3V Regulation

The EasyDriver is a simple to use stepper motor driver, compatible with anything that can output a digital 0 to 5V pulse (or 0 to 3.3V pulse if you solder SJ2 closed on the EasyDriver). The EasyDriver requires a 6V to 30V supply to power the motor and can power any voltage of stepper motor. The EasyDriver has an on board voltage regulator for the digital interface that can be set to 5V or 3.3V. Connect a 4-wire stepper motor and a microcontroller and you’ve got precision motor control! EasyDriver drives bi-polar motors, and motors wired as bi-polar. I.e. 4,6, or 8 wire stepper motors.

This EasyDriver V4.5 has been co-designed with Brian Schmalz. It provides much more flexibility and control over your stepper motor, when compared to older versions. The microstep select (MS1 and MS2) pins of the A3967 are broken out allowing adjustments to the microstepping resolution. The sleep and enable pins are also broken out for further control.

Note: Do not connect or disconnect a motor while the driver is energized. This will cause permanent damage to the A3967 IC.

Note: This product is a collaboration with Brian Schmalz. A portion of each sales goes back to them for product support and continued development.

Features

A3967 Microstepping Driver

MS1 and MS2 pins broken out to change microstepping resolution to full, half, quarter and eighth steps (defaults to eighth)

Compatible with 4, 6, and 8 wire stepper motors of any voltage

Adjustable current control from 150mA/phase to 700mA/phase

Power supply range from 6V to 30V. The higher the voltage, the higher the torque at high speeds

*BZZZZZZZZZZ* Feel that? That's your little buzzing motor, and for any haptic feedback project you'll want to pick up a few of them. These vibe motors are tiny discs, completely sealed up so they're easy to use and embed.Two wires are used to control/power the vibe. Simply provide power from a battery or microcontroller pin (red is positive, blue is negative) and it will buzz away. Works from 2V up to 5V, higher voltages result in more current draw but also a stronger vibration.If you want to reduce the current draw/strength (for example, to control it directly from an Arduino pin) try putting a resistor (100 to 1000 ohms) in series. For full power control, a small PN2222 transistor can control a motor easily, some experimentation may be required!

Vibrating Mini Motor Disc (6:47)

LRA Haptic motors. For use with compatible driver chip (DRV2605, etc.)

LRA Haptic motors. For use with compatible driver chip (DRV2605, etc.)

LRA Haptic motors. For use with compatible driver chip (DRV2605, etc.)

What is it?

This is a Piezo Actuator from Samsung. They provide a much stronger force when utilized proper compared to most other forms of haptics. It needs driven by a special high voltage driver such as our Piezo Haptic Flex Module.

This actuator comes with 30mm leads. Please be careful as they are delicate and will require support and strain relief.

What is it?

(This is a replacement for the early DRV2605L Flex Module. We updated the VDD and GND inputs, so that they are reversed and compatible with all other Flex Modules.)

A Flex Module is a tiny breakout board that is both breadboard-able and designed to solder/epoxy to flexible PCB for wearable prototyping. The LRA Haptic Flex Module is based on the DRV2605L Haptic Driver. The design is tiny to fit on the opposite side of a flexible circuit board from the ERM/LRA vibrator with a neoprene pad dampener. The allows for maximum flexibility of the circuit. It could also be attached directly to the motor, though durability would be limited.

Why did you make it?

This Flex Module will drive both linear resonant actuators (LRAs) and eccentric rotating mass (ERM) motors for haptic vibration. With an LRA, there is over 100 unique effects that can be selected from the internal licensed haptic IP.

What makes it special?

This design includes both PWM and audio line input option to drive the motor directly. So audio can be outputted over the motor driven or a microcontroller can drive the LRA by PWM directly.

This small, inexpensive motor controller allows variable speed and direction control of two small, brushed DC motors using a simple serial interface, making it easy to add motors to your microcontroller- or computer-based project. The motor supply voltage range is 4.5 to 13.5 V; the continuous current per channel is up to 1 A (3 A peak). The logic supply can be as low as 2.7 V, allowing operation with modern microcontrollers running at 3.3 V.

The qik 2s9v1 is Pololu’s second-generation dual serial motor controller. The compact module allows any microcontroller or computer with a serial port (external RS-232 level converter required) or USB-to-serial adapter to easily drive two small, brushed DC motors with full direction and speed control. It provides ultrasonic, 8-bit PWM speed control via an advanced, two-way serial protocol that features automatic baud rate detection up to 38.4 kbps and optional CRC error checking. Two status LEDs give visual feedback about the serial connection and any encountered error conditions, making debugging easy, and a demo mode allows easy verification of proper operation.

The improvements over the previous generation and competing products include:

high-frequency (ultrasonic) PWM to eliminate switching-induced motor shaft hum or whine

a robust, high-speed communication protocol with user-configurable error condition response

visible LEDs and a demo mode to help troubleshoot problematic installations

reverse power protection on the motor supply (not on the logic supply)

For a more advanced, higher-power version of this controller, please consider the qik 2s12v10. For a simpler carrier of the qik’s motor driver, please consider the TB6612FNG dual motor driver carrier, and for a robot controller based on the qik’s driver, please consider the Baby Orangutan and Orangutan SV-328 robot controllers and 3pi robot, which connect the TB6612 to a user-programmable AVR microcontroller.

November 27, 2013 update: We have changed this product by replacing the large, silver electrolytic capacitor with a much smaller ceramic capacitor. This lowers the profile of the board but does not affect functionality at all. The main product picture shows this new version; the rest of the pictures on this product page still show the previous version with the tall electrolytic capacitor.

Simple bidirectional control of two DC brush motors.

4.5 V to 13.5 V motor supply range.

1 A maximum continuous current per motor (3 A peak).

2.7 V to 5.5 V logic supply range.

Logic-level, non-inverted, two-way serial control for easy connection to microcontrollers or robot controllers.

Optional automatic baud rate detection.

Two on-board indicator LEDs (status/heartbeat and serial error indicator) for debugging and feedback.

Serial error output to make it easier for the main controller to recover from a serial error condition.

Jumper-enabled demo mode allows initial testing without any programming.

Optional CRC error detection eliminates serial errors caused by noise or software faults.

Optional motor shutdown on serial error or timeout for additional safety.

Supports daisy-chaining the qik to other qiks and Pololu serial motor and servo controllers, allowing the control of up to hundreds of motors and servos with a single serial line.

Comprehensive user’s guide.

The qik ships with a 16×1 straight 0.100" male header strip, a 12×1 right angle 0.100" male header strip, and two red shorting blocks. This hardware offers several options when it comes to making connections to the qik.

For the most compact installation, wires can be directly soldered to the qik pins themselves. For less permanent connections, the 16×1 straight header strip can be broken into a 12×1 piece and two 2×1 pieces. The 2×1 pieces can optionally be soldered into the jumper pins, and the 12×1 header strip of your choice can be soldered into the qik control pins. This allows connections to the qik via custom-made cables that have female headers on them, or the qik can simply be plugged into a breadboard. Using the right angle header allows for a compact profile or for vertical mounting into a breadboard; using the straight header allows for breadboarding as shown in the picture above.

We have written a basic Arduino library for the qik dual serial motor controllers that makes it simple to interface these controllers with an Arduino. The library handles the details of serial communication with the qik, allowing two brushed DC motors to be controlled easily.

People often buy this product together with:

Add quadrature encoders to your LP, MP, or HP micro metal gearmotors (extended back shaft version required) with this kit that uses a magnetic disc and hall effect sensors to provide 12 counts per revolution of the motor shaft. The sensors operate from 2.7 V to 18 V and provide digital outputs that can be connected directly to a microcontroller or other digital circuit.Note: This version is not compatible with the HPCB micro metal gearmotors; it is only compatible with LP, MP, and HP dual-shaft micro metal gearmotors.

Discontinuation notice: This encoder is not compatible with our HPCB micro metal gearmotors (the HPCB motor terminals are too large to fit the corresponding PCB holes), but it is compatible with the LP, MP, and HP versions of our micro metal gearmotors. We have released a new version of this board that enlarges the motor terminal holes so they are compatible with all our micro metal gearmotors. The new version is functionally identical to this older version and can serve as a drop-in replacement. We will be discontinuing this product when the remaining stock is gone.

These older encoders are now only available by large-volume special order. Please contact us for more information.

Magnetic Encoder Kit for Micro Metal Gearmotors (old version; not compatible with HPCB micro metal gearmotors).

Magnetic Encoder Kit for Micro Metal Gearmotors (HPCB compatible).

This kit includes two dual-channel Hall Effect sensor boards and two 6-pole magnetic discs that can be used to add quadrature encoding to two micro metal gearmotors with extended back shafts (motors are not included with this kit). The encoder board senses the rotation of the magnetic disc and provides a resolution of 12 counts per revolution of the motor shaft when counting both edges of both channels. To compute the counts per revolution of the gearbox output shaft, multiply the gear ratio by 12.

This compact encoder solution fits within the 12 mm × 10 mm cross section of the motors on three of the four sides, and it only extends 0.6 mm past the edge of the fourth side (note: if you need it to be flush with that last side, you can carefully grind the board down a little and solder to the remaining half-holes). The assembly does not extend past the end of the extended motor shaft, which protrudes 5 mm beyond the plastic end cap on the back of the motor.

Note: This sensor system is intended for users comfortable with the physical encoder installation. It only works with micro metal gearmotors that have extended back shafts.

The encoder board is designed to be soldered directly to the back of the motor, with the back shaft of the motor protruding through the hole in the middle of the circuit board. One way to achieve good alignment between the board and the motor is to tack down the board to one motor pin and to solder the other pin only when the board is flat and well aligned. Be careful to avoid prolonged heating of the motor pins, which could deform the plastic end cap of the motor or the motor brushes. Once the board is soldered down to the two terminals, the motor leads are connected to the M1 and M2 pads along the edge of the board; the remaining four pads are used to power the sensors and access the two quadrature outputs:

The sensors are powered through the VCC and GND pins. VCC can be 2.7 V to 18 V, and the quadrature outputs A and B are digital signals that are either driven low (0 V) by the sensors or pulled to VCC through 10 kΩ pull-up resistors, depending on the applied magnetic field. The sensors’ comparators have built-in hysteresis, which prevents spurious signals in cases where the motor stops near a transition point.

Encoder A and B outputs of a magnetic encoder on a high-power (HP) micro metal gearmotor running at 6 V.

The board’s six pads have a 2 mm pitch, so they do not work with common 0.1″ connectors. One option for connecting to the board is to solder in individual wires, such as in the example below:

Alternatively, you can solder a 2mm-pitch connector to the board. The examples below show a male header, which gives you the option of making a detachable cable terminated by a 6-pin 2mm-pitch female header. If the pins are angled over the motor, as shown in the picture below, they will just barely protrude through the holes in the board. Note that in this orientation, there is room to plug in a female header even when our extended micro metal gearmotor bracket is being used.

If the pins are pointed away from the motor, they will need to be angled so that they sufficiently clear the magnetic disc. With a decent soldering iron, it is possible to solder them in this orientation even after the encoder has been installed on the motor.

Once the board is soldered to the motor, the magnetic encoder disc can be pushed onto the motor shaft. One easy way to accomplish this is to press the motor onto the disc while it is sitting on a flat surface, pushing until the shaft makes contact with that surface. The size of the gap between the encoder disc and the sensor board does not have a big impact on performance as long as the motor shaft is at least all the way through the disc.

This schematic is also available as a downloadable pdf (125k pdf).

People often buy this product together with:

Body Diameter 4.4 mm

Body Length 6 mm

Ecc. Weight Radius 1.7 mm

Ecc. Weight Length 2.8 mm

Shaft Orientation Inline

Rated Operating Voltage 2.7 V

Rated Vibration Speed 13,500 rpm

Typical Rated Operating Current 65 mA

Typical Norm. Amplitude 0.5 G

The Z6CL2A0540722 water resistant motor vibration motor is ideal for imbedding into an object or in any environment where there is a possibility that something might impede the free movement of the counter weight.

This motor is similar to other Z4TL series motors, but it our uses a smaller counter weight. The silicone rubber boot running the length of the motor allows the motor to be press fit into a cavity in your products housing. You may request that this rubber boot be added to any of our Z4TL family of vibration motors.

DC Haptic Motor

ERM motor

ERM Motor

The DRV2605 from TI is a fancy little motor driver. Rather than controlling a stepper motor or DC motor, its designed specifically for controlling haptic motors - buzzers and vibration motors. Normally one would just turn those kinds of motors on and off, but this driver has the ability to have various effects when driving a vibe motor. For example, ramping the vibration level up and down, 'click' effects, different buzzer levels, or even having the vibration follow a musical/audio input.

This chip is controlled over I2C - after initialization, a 'string' of multiple effects can be strung together in the chips memory and then triggered to actuate in a row. The built in effects are much much nicer than just 'on' and 'off' and will make your haptic project way nicer feeling.

According to the product page, it can be used with both LRA (Linear Resonance Actuator) and ERM (Eccentric Rotating Mass) type motors but we have only used it with our little vibration pancake ERM.

We put this nice chip onto a breakout board. it works with both 3V and 5V power/logic, we have code specifically for Arduino but porting it to any I2C-capable processor should be quite simple. Check it out and get buzzing!

ERM Motor with brushes

NOTE: Our versions have a blue housing, not black like in the picture.

Our Z4TH5B1462252 is designed for application where low power consumption is the primary design consideration. The price point of this motor is much higher than our standard vibration motors making it impractical for toys and other low cost consumer applications. The motor is surrounded by a rubber boot that allows it to be press fit into the desired location in your devices housing.

Apply 5V and be shaken by this small, but powerful vibration motor. Works great as an physical indicator without notifying anyone but the wearer. This version uses a surface mount motor which is less likely to be damaged during use.

LilyPad is a wearable technology developed by Leah Buechley and cooperatively designed by Leah and SparkFun. Each LilyPad was creatively designed to have large connecting pads to allow them to be sewn into clothing. Various input, output, power, and sensor boards are available.

Note: A portion of this sale is given back to Dr. Leah Buechley for continued development and education of e-textiles.

Features

20mm outer diameter

Thin 0.8mm PCB

Sometimes we wonder if robotics engineers ever watch movies. If they did, they'd know that making robots into slaves always ends up in a robot rebellion. Why even go down that path? Here at Adafruit, we believe in making robots our friends!

So if you find yourself wanting a companion, consider the robot. They're fun to program, and you can get creative with decorations.

With that in mind, we designed Crickit - That's our Creative Robotics & Interactive Construction Kit. It's an add-on to our popular Feather ecosystem that lets you #MakeRobotFriend using CircuitPython, MakeCode (coming soon), or Arduino.

Plug in any Feather mainboard you want into the center, and you're good to go! The Crickit is powered by seesaw, our I2C-to-whatever bridge firmware. So you only need to use two I2C data pins to control the huge number of inputs and outputs on the Crickit. All those timers, PWMs, sensors are offloaded to the co-processor.

The only thing that is not managed by seesaw is the audio output. We provide a small jumper you can solder to connect the audio amplifier to the first analog pin. On our Feather M0's this is a true analog output (DAC) and you can play audio clips with CircuitPython or Arduino. Other Feathers may not have a DAC! In that case, you can solder a wire to jumper the audio amp to a PWM pin.

You get to use all the non-I2C signal pins on your feather and get a boat-load of extra in/out pins, motor controllers, capacitive touch sensors, a NeoPixel driver and amplified speaker output. It complements & extends your Feather so you can still use all the goodies, including stacking FeatherWings on top. But now you have a robotics playground as well.

You get:

4 x Analog or Digital Servo control, with precision 16-bit timers

2 x Bi-directional brushed DC motor control, 1 Amp current limited each, with 8-bit PWM speed control (or one stepper)

4 x High current "Darlington" 500mA drive outputs with kick-back diode protection. For solenoids, relays, large LEDs, or one uni-polar stepper

4 x Capacitive touch sensors with alligator-pads

8 x Signal pins, digital in/out or analog inputs

1 x NeoPixel driver with 5V level shifter - The NeoPixels are buffered and controlled by the seesaw chip

1 x Class D, 4-8 ohm speaker, 3W-max audio amplifier - the audio input pin is available as a solder-able pad for your configuration, you can connect it to your Feather's DAC or PWM output as you desire.

All are powered via 5V DC, so you can use any 5V-powered servos, DC motors, steppers, solenoids, relays etc. To keep things simple and safe, we don't support mixing voltages, so only 5V, not for use with 9V or 12V robotic components.

Please note this robot board does not require any soldering but you will need a power supply and a Feather to go along with the Crickit, and these are not included! We recommend also purchasing:

Any one of our Feather mainboards, powered by an ATmega328p, ATmega32u4, ATSAMD21, ATSAMD51, ESP8266, ESP32, WICED, nRF52, etc. All Feathers will work, even ones with SD cards, LoRa radios, WiFi or BTLE modules, etc. Adafruit seesaw only uses I2C and all Feather boards have I2C pins in the same location.

5V 2A power supply

If you're going to be running more than 2 large motors or servos at a time, we recommend a 5V 4A power supply

And of course we have a huge collection of all compatible motors, servos, solenoids, speakers and more in our Crickit category

Since you'll be working with high-current devices, we wanted to have a good solid power supply system that minimizes risk of damage. The power supply has an 'eFuse' management chip that will automatically turn off if the voltage goes above 5.5V or below 3V and has over-current protection at 4A. Every motor driver has kick-back protection. We think this is a nice and durable board for robotics!

Lots more details, schematics, specifications, and code examples in the (still in progress) Adafruit Learn guide.

The Tic T500 USB Multi-Interface Stepper Motor Controller makes basic control of a stepper motor easy, with quick configuration over USB using our free software. The controller supports six control interfaces: USB, TTL serial, I²C, analog voltage (potentiometer), quadrature encoder, and hobby radio control (RC). This version incorporates an MPS MP6500 driver and ships with soldered header pins and terminal blocks. It can operate from 4.5 V to 35 V and can deliver up to approximately 1.5 A per phase without a heat sink or forced air flow (or 2.5 A max with sufficient additional cooling).

The Tic family of stepper motor controllers makes it easy to add basic control of a bipolar stepper motor to a variety of projects. These versatile, general-purpose modules support six different control interfaces: USB for direct connection to a computer, TTL serial and I²C for use with a microcontroller, RC hobby servo pulses for use in an RC system, analog voltages for use with a potentiometer or analog joystick, and quadrature encoder for use with a rotary encoder dial. They also offer many settings that can be configured using our free configuration utility (for Windows, Linux, and macOS). This software simplifies initial setup of the device and allows for in-system testing and monitoring of the controller via USB (a micro-B USB cable is required to connect the Tic to a computer).

The table below lists the members of the Tic family and shows the key differences among them.

1 See product pages and user’s guide for operating voltage limitations.

Tic T500 USB Multi-Interface Stepper Motor Controller, bottom view with dimensions.

Tic T834 USB Multi-Interface Stepper Motor Controller, bottom view with dimensions.

Tic T825 USB Multi-Interface Stepper Motor Controller, bottom view with dimensions.

Tic T249 USB Multi-Interface Stepper Motor Controller, bottom view with dimensions.

Features and specifications

Open-loop speed or position control of one bipolar stepper motor

A variety of control interfaces:

USB for direct connection to a computer

TTL serial operating at 5 V for use with a microcontroller

I²C for use with a microcontroller

RC hobby servo pulses for use in an RC system

Analog voltage for use with a potentiometer or analog joystick

Quadrature encoder input for use with a rotary encoder dial, allowing full rotation without limits (not for position feedback)

STEP/DIR inputs for compatibility with existing stepper motor control firmware

USB for direct connection to a computer

TTL serial operating at 5 V for use with a microcontroller

I²C for use with a microcontroller

RC hobby servo pulses for use in an RC system

Analog voltage for use with a potentiometer or analog joystick

Quadrature encoder input for use with a rotary encoder dial, allowing full rotation without limits (not for position feedback)

STEP/DIR inputs for compatibility with existing stepper motor control firmware

Acceleration and deceleration limiting

Maximum stepper speed: 50,000 steps per second

Very slow speeds down to 1 step every 200 seconds (or 1 step every 1428 seconds with reduced resolution).

Up to six different microstep resolutions:

The Tic T825, Tic T834, and T249 support full step, half step, 1/4 step, 1/8 step, 1/16 step, and 1/32 step

The Tic T500 supports full step, half step, 1/4 step, 1/8 step

The Tic T825, Tic T834, and T249 support full step, half step, 1/4 step, 1/8 step, 1/16 step, and 1/32 step

The Tic T500 supports full step, half step, 1/4 step, 1/8 step

Digitally adjustable current limit

Optional safety controls to avoid unexpectedly powering the motor

Input calibration (learning) and adjustable scaling degree for analog and RC signals

5 V regulator (no external logic voltage supply needed)

Optional limit switch inputs with homing capabilities

Optional kill switch inputs

STEP/DIR outputs for controlling external stepper motor drivers

Connects to a computer through USB via a USB A to Micro-B cable (not included)

Free configuration software available for Windows, Linux, and macOS

Comprehensive user’s guide

New revision (tic03b): As of 3 January 2019, we are shipping a new revision of the Tic T500 that works better with low-resistance, low-inductance stepper motors at high input voltages and high current limits, which could lead to lost steps with the original tic03a version. Please contact us if you have the older version and would like a free replacement.

The Tic T500 is based on the MP6500 IC from Monolithic Power Systems. This driver IC features automatic decay mode selection, using internal current sensing to automatically adjust the decay mode as necessary to provide the smoothest current waveform. The Tic T500 can operate from 4.5 V to 35 V and can deliver up to approximately 1.5 A continuous per phase without a heat sink or forced air flow (the peak current per phase is 2.5 A). This version is sold with connectors soldered so no soldering is necessary to use it.

Powering the Tic T500 with a supply voltage between 4.5 V and 5.5 V might cause its logic voltage to be lower than normal, which could affect operation. See the user’s guide for more information.

Tic T500 USB Multi-Interface Stepper Motor Controller (Connectors Soldered).

A version is also available with header pins and terminal blocks included but not soldered.

People often buy this product together with:

This gearmotor is a miniature high-power, 6 V brushed DC motor with long-life carbon brushes and a 248.98:1 metal gearbox. It has a cross section of 10 × 12 mm, and the D-shaped gearbox output shaft is 9 mm long and 3 mm in diameter.

Key specifications:

voltage

no-load performance

stall extrapolation

6 V

130 RPM, 100 mA

3.2 kg⋅cm (44 oz⋅in), 1.5 A

These tiny brushed DC gearmotors are available in a wide range of gear ratios—from 5:1 up to 1000:1—and with five different motors: high-power 6 V and 12 V motors with long-life carbon brushes (HPCB), and high-power (HP), medium power (MP), and low power (LP) 6 V motors with shorter-life precious metal brushes. The 6 V and 12 V HPCB motors offer the same performance at their respective nominal voltages, just with the 12 V motor drawing half the current of the 6 V motor. The 6 V HPCB and 6 V HP motors are identical except for their brushes, which only affect the lifetime of the motor.

The HPCB versions (shown on the left in the picture below) can be differentiated from versions with precious metal brushes (shown on the right) by their copper-colored terminals. Note that the HPCB terminals are 0.5 mm wider than those on the other micro metal gearmotor versions (2 mm vs. 1.5 mm), and they are about 1 mm closer together (6 mm vs. 7 mm).

Versions of these gearmotors are also available with an additional 1 mm-diameter output shaft that protrudes from the rear of the motor. This 4.5 mm-long rear shaft rotates at the same speed as the input to the gearbox and offers a way to add an encoder, such as our magnetic encoder for micro metal gearmotors (see the picture on the right), to provide motor speed or position feedback.

With the exception of the 1000:1 gear ratio versions, all of the micro metal gearmotors have the same physical dimensions, so one version can be easily swapped for another if your design requirements change.

Please see the micro metal gearmotor datasheet (2MB pdf) for more information, including detailed performance graphs for each micro metal gearmotor version. You can also use our dynamically sortable micro metal gearmotor comparison table for search for the gearmotor that offers the best blend of speed, torque, and current-draw for your particular application. A more basic comparison table is available below.

Note: Stalling or overloading gearmotors can greatly decrease their lifetimes and even result in immediate damage. The recommended upper limit for instantaneous torque is 35 oz-in (2.5 kg-cm) for the 1000:1 gearboxes and 25 oz-in (2 kg*cm) for all the other gear ratios; we strongly advise keeping applied loads well under this limit. Stalls can also result in rapid (potentially on the order of seconds) thermal damage to the motor windings and brushes, especially for the versions that use high-power (HP and HPCB) motors; a general recommendation for brushed DC motor operation is 25% or less of the stall current.

In general, these kinds of motors can run at voltages above and below their nominal voltages; lower voltages might not be practical, and higher voltages could start negatively affecting the life of the motor.

Exact gear ratio: ``(25×34×37×35×38) / (12×10×10×14×10) ~~ bb(248.98:1)``

In terms of size, these gearmotors are very similar to Sanyo’s popular 12 mm NA4S DC gearmotors, and gearmotors with this form factor are occasionally referred to as N20 motors. The versions with carbon brushes (HPCB) have slightly different terminal and end-cap dimensions than the versions with precious metal brushes, but all of the other dimensions are identical.

Dimensions of versions with carbon brushes (HPCB)

Dimensions of the Pololu micro metal gearmotors with carbon brushes (HPCB). Units are mm over [inches].

Dimensions of versions with precious metal brushes (LP, MP, and HP)

Dimensions of the Pololu micro metal gearmotors with precious metal brushes: low-power (LP), medium-power (MP), and high-power (HP). Units are mm over [inches].

These diagrams are also available as a downloadable PDF (262k pdf).

Wheels and hubs: The micro metal gearmotor’s output shaft matches our assortment of Pololu wheels and the Solarbotics RW2i rubber wheel. You can also use our Pololu universal mounting hubs to mount custom wheels and mechanism to the micro metal gearmotor’s output shaft, and you can use our 12mm hex wheel adapter to use this motor with many common hobby RC wheels.

Pololu wheel 32×7mm on a micro metal gearmotor.

Black Pololu 70×8mm wheel on a Pololu micro metal gearmotor.

A pair of Pololu universal aluminum mounting hubs for 3 mm diameter shafts.

12mm Hex Wheel Adapter for 3mm Shaft on a Micro Metal Gearmotor.

Mounting brackets: Our mounting bracket (also available in white) and extended mounting bracket are specifically designed to securely mount the gearmotor while enclosing the exposed gears. We recommend the extended mounting bracket for wheels with recessed hubs, such as the Pololu wheel 42×19mm. Our micro metal gearmotors will also work with our 15.5D mm metal gearmotor bracket pair.

Black micro metal gearmotor mounting bracket pair with included screws and nuts.

White micro metal gearmotor mounting bracket pair with included screws and nuts.

Pololu micro metal gearmotor bracket extended with micro metal gearmotor.

Quadrature encoders: We offer several quadrature encoders that work with our micro metal gearmotors.

Magnetic Encoder on a Micro Metal Gearmotor with Extended Motor Shaft, assembled with ribbon cable wires.

Example of an installed micro metal gearmotor reflective optical encoder.

Note: The HPCB versions of our micro metal gearmotors are not compatible with our #2590 and #2591 optical encoders or our older #2598 magnetic encoders (the terminals are too wide to fit through the corresponding holes in the encoder boards). However, they are compatible with our newer #3081 magnetic encoders.

Motor controllers and drivers: We have a number of motor controllers, motor drivers, and robot controllers that make it easy to drive these micro metal gearmotors. For the 6 V micro metal gearmotors, consider the DRV8838 single-channel motor driver carrier, the DRV8833 dual motor driver carrier, and DRV8835 dual motor driver carrier (or DRV8835 shield for Arduino). For the 12 V micro metal gearmotors, consider the MAX14870 single-channel motor driver carrier, DRV8801 single-channel motor driver carrier, and A4990 dual motor driver carrier (or A4990 shield for Arduino).

DRV8838 Single Brushed DC Motor Driver Carrier.

Pololu A4990 Dual Motor Driver Shield for Arduino, bottom view.

DRV8835 dual motor driver carrier.

Current sensors: We have an assortment of Hall effect-based current sensors to choose from for those who need to monitor motor current:

ACS711EX current sensor carrier -15.5A to +15.5A.

ACS714 current sensor carrier -5A to +5A.

We also incorporate these motors into some of our products, including our Zumo robot and 3pi robot :

Assembled Zumo 32U4 robot.

Pololu 3pi robot.

We offer a wide selection of metal gearmotors that offer different combinations of speed and torque. Our metal gearmotor comparison table can help you find the motor that best meets your project’s requirements.

People often buy this product together with: