N20 gear motor with hall encoder with ESP32

Supply 3.3-5 V Bus GPIO

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
M1	Not wired to the ESP32	—	Pin order varies between boards: match by the printed label. Motor. Never to an ESP32 pin: use a motor driver
GND	Ground	GND	Encoder ground
C1	Output (the part drives it)	D25	Encoder channel A
C2	Output (the part drives it)	D26	Encoder channel B
VCC	Power	3V3	Encoder supply 3.3 to 5 V: use 3V3 so the outputs stay at 3.3 V
M2	Not wired to the ESP32	—	Motor

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

void setup() {
  Serial.begin(115200);
  pinMode(25, INPUT);  // C1
}

void loop() {
  Serial.println(digitalRead(25));
  delay(100);
}

N20 micro gear motor with magnetic encoder (vendor datasheet), 6-pin connector M1 GND C1 C2 VCC M2

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.