D1 Mini Shield – AT8870 Motor

Last Updated on 15. October 2026 by SuffocationLink status: OK

Motorplatine zur Ansteuerung von zwei Motoren (6,6 V – 38 V) über den I²C-Bus

For the D1 mini ESP8266 and ESP32, go here:

Preview – W600-Pico V1.0.0 1MB FlashLink status: OK
Wemos C3 MiniLink status: OK
(Wemos) D1 ESP32Link status: OK
Wemos D1 Mini Pro (V1.1.0)Link status: OK
Wemos D1 MiniLink status: OK

Facts

Versorgungsspannung 6,6V – 38 V
Maximaler Dauerstrom 2A (kurzzeitig bis zu 3,6A)
Steuerung Vorwärts/Rückwärts (Geschwindigkeit), Stopp/Bremsen

Description	Name	Pin
I²C Clock	SCL	5 (D1)
I²C Data	Seventh-day Adventist	4 (D2)
Motor A Anschluss 1		1A
Motor A Anschluss 2		2A
Motor B Anschluss 1		1B
Motor B Anschluss 2		2B
Externe Spannung	VM(6,5 -38V)	VM
Externe Spannung GND	Ground	Ground
Default I²C Adresse		0x30

D1 Mini Shield – AT8870 Motor –

SchematicLink status: OK

Compatibility

D1 Type	Compatible	Begründung, wenn nicht
D1 mini	Yes
D1 mini Pro	Yes	Untested
D1 mini Lite	Yes	Untested
D1 32	Yes
S2 mini	Yes	Untested
C3	Yes	Untested

Kompatibilität zu den D1 Boards

Areas of application

Ferngesteuerte Autos
Selbstfahrende Roboter
Arme mit zwei Freiheitsgraden
Betreiben eines Schrittmotors

Views

D1 Mini Shield – AT8870 Motor – Verbunden

Programming

Libraries

Arduino ESP32 Bibliothek V2.0.3-RC1

Arduino ESP8266 Bibliothek V3.0.2

https://github.com/wemos/LOLIN_I2C_MOTOR_LibraryLink status: OK

Test programme

Source code MotorTest.ino (GitHubLink status: OK)

/* Testprogramm for D1 motor shields
   Step 1: Motor A Forward -> increase Speed -> decrease speed
   Step 2: Motor B Forward -> increase Speed -> decrease speed
   Step 3: Motor A&B Forward -> increase Speed -> decrease speed

   Lib:
   https://github.com/wemos/LOLIN_I2C_MOTOR_Library

   Inspired by the examples of the library
   Created by S. Fambach
   Visit http://www.fambach.net if you want
*/

#include <Wire.h>

// get the motor lib and get an object

#include "LOLIN_I2C_MOTOR.h"
LOLIN_I2C_MOTOR motor; //I2C address 0x30


void setup()
{

  Wire.begin();
  Serial.begin(115200);
  Serial.println(F("Init Motor Shield..."));

  while (motor.PRODUCT_ID != PRODUCT_ID_I2C_MOTOR) //wait motor shield ready.
  {
    motor.getInfo();
  }
  Serial.println(F("... Success"));

}

void loop()
{

  // M1 forward test ********************************************************
  Serial.print(F("MA forward Test .."));
  motor.changeStatus(MOTOR_CH_A, MOTOR_STATUS_CW);
  motor.changeFreq(MOTOR_CH_A, 20000);
  motor.changeStatus(MOTOR_CH_B, MOTOR_STATUS_STOP);

  Serial.print(F(".. increase speed .."));
  for (int i = 0; i < 100; i++) {
    motor.changeDuty(MOTOR_CH_A, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }

  Serial.print(F(".. decrease speed .."));
  for (int i = 100; i > 0; i--) {
    motor.changeDuty(MOTOR_CH_A, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }
  motor.changeDuty(MOTOR_CH_A, 0);
  Serial.println(F(".. Finished"));

  // motor.changeStatus(MOTOR_CH_A,MOTOR_STATUS_STOP);


  // M1 backward test ********************************************************
  Serial.print(F("MA Backward Test .."));
  motor.changeStatus(MOTOR_CH_A, MOTOR_STATUS_CCW);
  motor.changeFreq(MOTOR_CH_A, 20000);
  motor.changeStatus(MOTOR_CH_B, MOTOR_STATUS_STOP);

  Serial.print(F(".. increase speed .."));
  for (int i = 0; i < 100; i++) {
    motor.changeDuty(MOTOR_CH_A, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }

  Serial.print(F(".. decrease speed .."));
  for (int i = 100; i > 0; i--) {
    motor.changeDuty(MOTOR_CH_A, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }
  motor.changeDuty(MOTOR_CH_A, 0);
  Serial.println(F(".. Finished"));
  motor.changeStatus(MOTOR_CH_A, MOTOR_STATUS_STOP);

  
  // M2 forward test ********************************************************
  Serial.print(F("MB forward Test .."));
  motor.changeStatus(MOTOR_CH_B, MOTOR_STATUS_CW);
  motor.changeFreq(MOTOR_CH_B, 20000);
  motor.changeStatus(MOTOR_CH_A, MOTOR_STATUS_STOP);

  Serial.print(F(".. increase speed .."));
  for (int i = 0; i < 100; i++) {
    motor.changeDuty(MOTOR_CH_B, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }

  Serial.print(F(".. decrease speed .."));
  for (int i = 100; i > 0; i--) {
    motor.changeDuty(MOTOR_CH_B, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }
  motor.changeDuty(MOTOR_CH_B, 0);
  Serial.println(F(".. Finished"));

  // M2 Backward test ********************************************************
  Serial.print(F("MB backward Test .."));
  motor.changeStatus(MOTOR_CH_B, MOTOR_STATUS_CCW);
  motor.changeFreq(MOTOR_CH_B, 20000);
  motor.changeStatus(MOTOR_CH_A, MOTOR_STATUS_STOP);

  Serial.print(F(".. increase speed .."));
  for (int i = 0; i < 100; i++) {
    motor.changeDuty(MOTOR_CH_B, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }

  Serial.print(F(".. decrease speed .."));
  for (int i = 100; i > 0; i--) {
    motor.changeDuty(MOTOR_CH_B, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }
  motor.changeDuty(MOTOR_CH_B, 0);
  Serial.println(F(".. Finished"));

  // test both motors ********************************************************
  // forward test
  Serial.print(F("Both forward Test .."));
  motor.changeStatus(MOTOR_CH_BOTH, MOTOR_STATUS_CW);
  motor.changeFreq(MOTOR_CH_BOTH, 20000);
  //

  Serial.print(F(".. increase speed .."));
  for (int i = 0; i < 100; i++) {
    motor.changeDuty(MOTOR_CH_BOTH, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }

  Serial.print(F(".. decrease speed .."));
  for (int i = 100; i > 0; i--) {
    motor.changeDuty(MOTOR_CH_BOTH, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }
  motor.changeDuty(MOTOR_CH_BOTH, 0);
  Serial.println(F(".. Finished"));

  // Backward test ********************************************************
  Serial.print(F("Both backward Test .."));
  motor.changeStatus(MOTOR_CH_BOTH, MOTOR_STATUS_CCW);
  motor.changeFreq(MOTOR_CH_BOTH, 20000);


  Serial.print(F(".. increase speed .."));
  for (int i = 0; i < 100; i++) {
    motor.changeDuty(MOTOR_CH_BOTH, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }

  Serial.print(F(".. decrease speed .."));
  for (int i = 100; i > 0; i--) {
    motor.changeDuty(MOTOR_CH_BOTH, i);
    if ( (i % 10) == 0 ) {
      Serial.print(".");
    }
    delay(200);
  }
  motor.changeDuty(MOTOR_CH_BOTH, 0);
  Serial.println(F(".. Finished"));

  /********************************************************/

  motor.changeStatus(MOTOR_CH_BOTH, MOTOR_STATUS_STOP);
  delay(2000);
  // stop

}

So siehts auf der Konsole aus:

Problems

—

Conclusion

Kann zwei Motoren über den I²C-Bus bedienen, was will man mehr?

Other Shields

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D1 Mini Shield – PIR (Bewegungssensor)Link status: OK
D1 Mini Shield – HR8833 MotorLink status: OK
D1 Mini Shield – SG30 LuftqualitätsmessungLink status: OK
D1 Mini Shield – I2C ConnectorLink status: Unknown
D1 Mini Shield – Matrix LED ShieldLink status: Unknown
D1 Mini Shield – Oled 64×48Link status: Unknown
D1 Mini Shield – Buzzer (Pipser)Link status: Unknown

More ESPs

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Ulanzi TC001 Smart Pixel ClockLink status: Unknown
ESP WEB Serial LibraryLink status: Unknown
ESP32-C3 Seeed Studio XIAOLink status: OK
ESP32-C3 Super Mini BoardLink status: OK
Preview – LuatOs ESP32-C3 BoardLink status: OK
ESP32 Bluetooth GamepadLink status: OK
ESP01 – DHT11 Temperatur und Feuchte Sensor PlatinenLink status: OK
ESP01 Relay BoardsLink status: Unknown
ESP8266/32 WiFi Manager.Link status: OK

Sources

Sources for the Shield

HLink status: UnknownerstellerseiteLink status: Unknown

Sources for the boards

Manufacturer's websiteLink status: OK

SchematicLink status: OK

CH340 USB DriverLink status: OK

https://arduino-projekte.info/wemos-d1-mini/Link status: Unknown

https://www.exp-tech.de/plattformen/esp8266/entwicklungsboards/8898/wemos-d1-miniLink status: Unknown

Date	Change	Author
15.10.2026	Beispielcode als Code-Block eingefügt (Einbettung über gist-it.appspot.com funktionierte nicht mehr)	Suffocation
08.10.2026	Überschriften-Hierarchie korrigiert (H1→H2, Unterebenen eine Stufe tiefer)	Suffocation
04.10.2026	Rechtschreibung korrigiert: Tippfehler, Groß-/Kleinschreibung, Kommas	Suffocation
03.10.2026	Log-Liste eingefügt	Suffocation
15.04.2022	Post created	Suffocation

Changelog