The PWM channel of an H-Bridge will be pulsed on/off at a rate that will provide speed control of the corresponding motor. The Forward or the Reverse channel of an H-Bridge will be enabled corresponding to the desired direction of motor rotation.The three signals equivalently represent "Forward", "Reverse" and "PWM" signals. Three channels are used by each of the four H-Bridge circuits. Twelve of the sixteen servo shield channels are utilized.The two H-Bridge Circuit boards used for this project each contain two individual H-Bridge circuits, yielding a total of four H-Bridges, one dedicated to each DC motor. Each output channel of the servo shield is connected to an input channel of an H-Bridge controller.The Raspberry Pi sends commands to the Adafruit Servo Shield via the I2C bus to turn on, off or pulse on/off at a specific rate the individual output channels of the servo shield.
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