The motors are controlled by the built-in PWM controller. The speed can be regulated via the PWM signal (0-255), as well as the direction of rotation (forward & reverse) and the braking mode (strong & soft braking).

FOR EXPERTS: The PWM controller can be controlled by I2C via address 0x70. A total of 4 channels (2, 3, 4 & 5) are available for the two motors, which can be used as follows:

Motor right Kanal 2                          Kanal 3		Motor left Kanal 4                          Kanal 5		Funktion
0	PWM	0	PWM	forward
0	0	0	PWM	left
0	PWM	0	0	right
PWM	0	PWM	0	reverse
255	255	255	255	soft braking
0	0	0	0	strong braking