L298 motor drive design (including schematic diagram)

Recently, it is necessary to use L298P as a motor drive chip to make a low-level controller for a ROS chassis. Why not use L298N? Because L298N is relatively large in size, it is not beautiful to be welded on the board. After several days of testing, the following circuit diagrams are organized:
L298P motor dual-drive chip schematic diagram

First analyze the connection of each pin
1. SENSE A and SENSE B we can follow the default low level grounding in the data manual
2. EP is the chip The heat dissipation part at the bottom does not need to be connected.
3. OUT1, 2, 3, and 4 are the output ports of the motor respectively corresponding to the positive and negative poles of motors A and B.
4, VS is the power port of L298P, and connect to the 5.5-24V battery power supply.
5, INPUT1,2 , 3, 4 is the direction logic control pins of motor A and B. For example, INPUT1 is high, INPUT2 is low, the motor is forward, INPUT1 is high, INPUT2 is high, and the motor stops.
6. ENABLEA and ENABLEB are motor enable pins or PWM input pins. If the speed control function is not required, the default 5V or 3V3 on the street is enough. If the speed control function is needed, it can be connected to the PWM control pin of the microcontroller The feet are used to control the motor speed
. There are 8 diodes on the left and right sides of the figure to prevent the recoil current generated by the motor reversing from burning out the L298P. Here, the SS14 diode can be used.
8, and there are two motor forward and reverse indicators. Add or delete depending on your needs.