Troubleshooting

[Andrew Karp]

Hello, rebuilding my 4WD that ran on Lino robot 1 and upgrading it to Lino robot 2. I’m using raspberry pi 4 (Ubuntu 22.04.05 lts 64 bit), rp lidar a1, esp32, 2 l298, imu 9250. Anyone have a diagram for l298, encoder, imu, to the esp just like what was posted for the Lino 1?

I’m facing some issues relating to the manually testing the motor controls via twist when click o the right side motors move fine the left side start and run at full speed without stopping. Here’s pin map and a pic of the set up a bit of a mess but will improve in the future. 

Motor 1 (left side, one of the motors you described as positive on 1 / negative on 2):
PWM → GPIO 25
IN_A → GPIO 26
IN_B → GPIO 27

•  Motor 2 (right side):
PWM → GPIO 17
IN_A → GPIO 18
IN_B → GPIO 19

•  Motor 3 (left side, the other motor you described as positive on 3 / negative on 4):
PWM → GPIO 14
IN_A → GPIO 15
IN_B → GPIO 13

•  Motor 4 (right side):
PWM → GPIO 23
IN_A → GPIO 5
IN_B → GPIO 16

motors 1 and 3 wired in parallel on one L298N channel 

•  Motor 1 encoder:
Channel A → GPIO 34
Channel B → GPIO 35

•  Motor 2 encoder:
Channel A → GPIO 36
Channel B → GPIO 39

•  Motor 3 encoder:
Channel A → GPIO 32
Channel B → GPIO 33

•  Motor 4 encoder:
Channel A → GPIO 21
Channel B → GPIO 22

Andrew Karp

Andrew Karp

[Chuck Illingworth]

Does the linorobot2_hardware diagrams help for wiring?

Chuck

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[Pito Salas]

I have had motors where the 4 wires were mislabeled, even in the doc. I would try switching left and right motor to see if the problem moves with the motor.
Best,

Pito

Boston Robot Hackers &&
Comp. Sci Faculty, Brandeis University (Emeritus)

> On Apr 12, 2026, at 8:17 PM, Chuck Illingworth <cail...@gmail.com> wrote:
>
> Does the linorobot2_hardware diagrams help for wiring?
> Chuck
>
> On Sun, Apr 12, 2026, 9:06 PM Andrew Karp <karpa...@gmail.com> wrote:
> Hello, rebuilding my 4WD that ran on Lino robot 1 and upgrading it to Lino robot 2. I’m using raspberry pi 4 (Ubuntu 22.04.05 lts 64 bit), rp lidar a1, esp32, 2 l298, imu 9250. Anyone have a diagram for l298, encoder, imu, to the esp just like what was posted for the Lino 1?
>
> I’m facing some issues relating to the manually testing the motor controls via twist when click o the right side motors move fine the left side start and run at full speed without stopping. Here’s pin map and a pic of the set up a bit of a mess but will improve in the future.
>
> Motor 1 (left side, one of the motors you described as positive on 1 / negative on 2):
> PWM → GPIO 25
> IN_A → GPIO 26
> IN_B → GPIO 27
> • Motor 2 (right side):
> PWM → GPIO 17
> IN_A → GPIO 18
> IN_B → GPIO 19
> • Motor 3 (left side, the other motor you described as positive on 3 / negative on 4):
> PWM → GPIO 14
> IN_A → GPIO 15
> IN_B → GPIO 13
> • Motor 4 (right side):
> PWM → GPIO 23
> IN_A → GPIO 5
> IN_B → GPIO 16
>
> motors 1 and 3 wired in parallel on one L298N channel
> • Motor 1 encoder:
> Channel A → GPIO 34
> Channel B → GPIO 35
> • Motor 2 encoder:
> Channel A → GPIO 36
> Channel B → GPIO 39
> • Motor 3 encoder:
> Channel A → GPIO 32
> Channel B → GPIO 33
> • Motor 4 encoder:
> Channel A → GPIO 21
> Channel B → GPIO 22
>
>

> <image0.jpeg>
> Andrew Karp
>
> Andrew Karp
>
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> To view this discussion visit https://groups.google.com/d/msgid/linorobot/C86B5796-F874-4C5A-AF33-0C3E037FDBC9%40gmail.com.
>
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> To view this discussion visit https://groups.google.com/d/msgid/linorobot/CAAVHW%2B%3DRu1HL%2BMrLRX-d6sCUroOObXLCk3PoogQMbJW7xzqmww%40mail.gmail.com.
> <image0.jpeg><image0.jpeg>