![](http://www.emcu.eu/wp-content/uploads/2017/12/f1-2-300x228.png)
If you need make your 4WD robot car I suggest to start from this kit that include also 4 encoder. On BangGood there is a similar kit that is this.
- For drive the motors I suggest to use this board (Adafruit Motor Shield) that mount the Arduino™ Uno V3 connectors.
- The official Arduino page concerning this board is here.
- The schematic of this board, in .PNG format is here.
- The schematic of this board, in EAGLE (CAD) format is here.
- Here there is: Understanding the Adafruit Motor Shield HW & SW
- ATTENTION: For use the Adafruit Motor Shield on STM32 NUCLEO board is necessary do a HW change on the Adafruit Motor Shield board.
- Here there is an example based on STM32-NUCLEO and L293D, all is made under the free mBed compiler.
- Here there is a nice mBed library for L293D
![](http://www.emcu.eu/wp-content/uploads/2017/12/f0-300x207.png)
A simple example of to use the board is shown below.
![](http://www.emcu.eu/wp-content/uploads/2017/12/f7-300x174.png)
![](http://www.emcu.eu/wp-content/uploads/2017/12/f8-300x136.png)
![](http://www.emcu.eu/wp-content/uploads/2017/12/f10-300x212.png)
- L293D data sheet is here.
- Operation Mode is here.
- Explanation on how to use L293D in Italian language are here.
On the board there is mounted 2 x L293D and 1 x 74HCT595N.
74HCT595N is use to reduce the number of pins necessary for drive the 2 x L293D.
- Here there is the 74HC595N datasheet.
![](https://www.emcu-homeautomation.org/wp-content/uploads/2021/07/immagine-72.png)
Another board for drive the motors is this.
![](http://www.emcu.eu/wp-content/uploads/2017/12/f3-2-300x249.png)
On Internet there are a lot of example regarding the use this kit, some are listed below.
For avoid the obstacles during the movement of your car robot I suggest this ultrasonic measuring sensor module (HC-SRF04).
![](http://www.emcu.eu/wp-content/uploads/2017/12/fx.png)
For move the ultrasonic sensor I suggest the SG90 RC servo motor.
![](http://www.emcu.eu/wp-content/uploads/2017/12/f5.png)
A kit for mounting ultrasonic measuring sensor and SG90 RC servo motor is here.
![](http://www.emcu.eu/wp-content/uploads/2017/12/f6-276x300.png)