In this circuit the relays are voltage according to the motors and the diodes can be 1N4002 or 1N4004 for currents up to 1A of motor. The circuit allows the use of a joystick to control two motors of a robot so that it is forward, backward, right or left. The circuit is from Newton C. Braga's Mechatroics for the Evil Genius published in the United States.
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