AF Motor Shield V1
No longer in production but available as various clones, this board can
drive two 5V servos and up to 4 motors attached to two L293D driver ICs.
A shift register is used to provide the direction inputs to the ICs and PWM outputs from the CPU connect to the driver enable inputs to control the motor power (speed).
PWM
Motor Motor # Arduino UNO MEGA2560
Servo 1 10 Timer1B PB2 Timer2A PB4
Servo 2 9 Timer1A PB1 Timer2B PH6
L293D IC1 1,2EN 1 11 Timer2A PB3 Timer1A PB5
L293D IC1 3,4EN 2 3 Timer2B PD3 Timer3C PE5
L293D IC2 3,4EN 3 6 Timer0A PD6 Timer4A PH3
L293D IC2 1,2EN 4 5 Timer0B PD5 Timer3A PE3
L293D
1,2EN 1-----16 VCC1
1A 2 15 4A
1Y 3 14 4Y
GND 4 13 GND
GND 5 12 GND
2Y 6 11 3Y
2A 7 10 3A
VCC2 8-----9 3,4EN
Shift register
Q1 1-------16 VCC
Q2 2 15 Q0
Q3 3 14 DS
Q4 4 13 !OE
Q5 5 12 STCP
Q6 6 11 SHCP
Q7 7 10 !MR
GND 8-------9 Q7S
74HCT595 Function Arduino UNO MEGA2560
STCP STORAGE CLOCK D12 PB4 PB6
SHCP SHIFT CLOCK D4 PD4 PG5
!OE O/P ENABLE D7 PD7 PH4
DS DATA D8 PB0 PH5
Q Input Motor #
0 L293D IC2 1A 4
1 L293D IC1 4A 2
2 L293D IC1 1A 1
3 L293D IC1 2A 1
4 L293D IC1 3A 2
5 L293D IC2 4A 3
6 L293D IC2 2A 4
7 L293D IC2 3A 3
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