L293D motor driver chip (DIP-16) with ESP32

Supply 5 V Bus GPIO

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
EN12	Input (the ESP32 drives it)	D25	Pin 1: enables channels 1 and 2 (PWM for speed)
1A	Input (the ESP32 drives it)	D26	Pin 2: input 1
1Y	Not wired to the ESP32	—	Pin 3: output 1, to the motor
GND1	Ground	GND	Pins 4, 5, 12, 13 are ground and heat sink
GND2	Ground	GND
2Y	Not wired to the ESP32	—	Pin 6: output 2, to the motor
2A	Input (the ESP32 drives it)	D27	Pin 7: input 2
VCC2	Not wired to the ESP32	—	Pin 8: motor supply 4.5 to 36 V
EN34	Input (the ESP32 drives it)	D32	Pin 9: enables channels 3 and 4
3A	Input (the ESP32 drives it)	D33	Pin 10: input 3
3Y	Not wired to the ESP32	—	Pin 11: output 3
GND3	Ground	GND
GND4	Ground	GND
4Y	Not wired to the ESP32	—	Pin 14: output 4
4A	Input (the ESP32 drives it)	D23	Pin 15: input 4
VCC1	Power	VIN	Pin 16: logic supply 4.5 to 7 V: use VIN. Inputs accept 3.3 V

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.

Texas Instruments L293D datasheet, Pin functions; VCC1 4.5 to 7 V, input HIGH from 2.3 V; 600 mA per channel

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