# how to drive two pairs of DC motors with arduino

I want to power four independent DC motors of a rover with arduino. Besides the voltage (6.0V) I don't have any other information about the motors.

I decided to make the rover change direction like a tank, meaning that each side's motors (right side and left side) have the same speed, but right side has different speed than left side. I also intent to use one or two L293B or simmilar chips.

I have thought of several ways of creating the circuit:

Case A: Four PWM pins of arduino, each one for controlling an induvidual motor. This means that two L293B chips are required:

• PWM_front_left and PWM_front_right connected to the first L293B

• PWM_back_left and PWM_back_right connected to the second L293B

Case B: Two PWM pins of arduino, each one splitting

• PWM_left splits to PWM_front_left and PWM_back_left
• PWM_right splits to PWM_front_right and PWM_back_right

Each one controls an induvidual motor. This means that two L293B chips are required.

Case C: Two PWM pins of arduino, each one connected to left channel and right channel of just one L293B. Two motors will be linked to the left channel and two motors will be linked to the right channel.

Are there any advantages or dissadvantages for each one of these cases?

Also, I would like to ask something about the logic pins. For each channel except of the PWM, two logic pins are required:

• Pin_A (1) and Pin_B (0) for clockwise
• Pin_A (0) and Pin_B (1) for anticlockwise

Since everytime B = NOT(A), instead of using two logic pins, I want to use one logic pin splitting in two parts. The first part is connected directly to the L293B. The second part passes through a hex inverter, exits as an NOT(A) and is been connected to the L293B. Is that possible to work?