Connecting BTS7960 to ESP32

high power bidirectional DC motor controller BTS7960 PWM controlled by ESP32 , like and coment for more
3.3V volts output from ESP32 goes to VCC, R_EN, L_EN
ESP32 GND goes to GND
ESP32 D4 goes to RPWM
ESP32 D16 goes to LRPM

Arduino IDE code:

// ESP32 + BTS7960 – smooth acceleration and braking 20→100→20%

// Direction: first LEFT, then RIGHT, in a loop



#define RPWM_PIN   4    // right

#define LPWM_PIN  16    // left

#define LED_PIN    2    // LED – lights up when the motor is running



const int pwmFreq       = 20000;

const int pwmResolution = 8;        // 0–255

const int stepTime      = 2000;     // 2 seconds for each 10% step



void setup() {

  Serial.begin(115200);



  ledcAttach(RPWM_PIN, pwmFreq, pwmResolution);

  ledcAttach(LPWM_PIN, pwmFreq, pwmResolution);



  pinMode(LED_PIN, OUTPUT);

  digitalWrite(LED_PIN, LOW);



  Serial.println("Start: smooth LEFT → RIGHT → LEFT...");

  delay(1000);

}



void loop() {

  // ==================== LEFT: 20% → 100% → 20% ====================

  runDirectionSmooth(LPWM_PIN, RPWM_PIN, "LEFT");



  // Short pause after the full left cycle

  stopMotor();

  delay(1000);



  // ==================== RIGHT: 20% → 100% → 20% ====================

  runDirectionSmooth(RPWM_PIN, LPWM_PIN, "RIGHT");



  // Short pause after the full right cycle

  stopMotor();

  delay(1000);

}



// =====================================================

// Function: smooth acceleration and braking in one direction

// =====================================================

void runDirectionSmooth(int forwardPin, int reversePin, String dirName) {

  // Acceleration: 20% → 100%

  for (int duty = 51; duty <= 255; duty += 25) {        // 51≈20%, 255=100%, step ≈10%

    int percent = (duty * 100) / 255;

    Serial.printf("→ %s: %d%% (duty=%d)n", dirName.c_str(), percent, duty);

    digitalWrite(LED_PIN, HIGH);

    ledcWrite(forwardPin, duty);

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