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:
Kanal 2 Kanal 3
Kanal 4 Kanal 5