BTS7960 43 A motor driver (IBT-2) with ESP32

Supply 5 V Bus GPIO

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
RPWM	Input (the ESP32 drives it)	D25	Forward PWM
LPWM	Input (the ESP32 drives it)	D26	Reverse PWM
R_EN	Input (the ESP32 drives it)	D27	HIGH to enable. Often tied to L_EN
L_EN	Input (the ESP32 drives it)	D32	HIGH to enable
R_IS	Analog output	D34	Current sense. Can exceed 3.3 V on a fault: add a divider before an ADC pin
L_IS	Analog output	D35	Current sense. Can exceed 3.3 V on a fault: add a divider before an ADC pin
VCC	Power	VIN	5 V logic supply: use VIN. Inputs via a 74HC244 buffer: 3.3 V is below spec, often works
GND	Ground	GND
B+	Not wired to the ESP32	—	Motor supply + 6 to 27 V (screw terminal)
B-	Not wired to the ESP32	—	Motor supply - (screw terminal)
M+	Not wired to the ESP32	—	Motor
M-	Not wired to the ESP32	—	Motor

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

This module is sold for 5 V. Its outputs may be 5 V: use a level shifter or a voltage divider on ESP32 inputs.

void setup() { Serial.begin(115200); }

void loop() {
  int mv = analogReadMilliVolts(34);  // R_IS on GPIO 34
  Serial.println(mv);
  delay(200);
}

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.