I'm trying to make a bipolar H-Bridge motor driver. But instead of the mentioned diode(1N4001), I've got a 1N4007 diode. Can I use that instead?
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Yes. The 1N4007 can withstand a higher reverse voltage(\$V_r\$), 1000V vs. 50V. The 1N4007 may even be a better choice, esp. if your motor is powered by a voltage near 35V. (The 1N4001 is rated for a \$V_{r(RMS)}\$ of 35V.) While diodes like 1N400x may be well suited as freewheeling diodes in terms of voltage and current (rated at 1A), they're not exactly fast. To protect your transistors Schottky diodes would be a better choice, but they usually have limited \$V_r\$. Here's the \$V_r\$ for the 1N400x series:
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