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Hi I'm wanting to control a dc motor through esp-01 and to have it powered by batteries. To keep my esp-01 safe, I have found the esp-01 adapter to regulate voltage. I am wondering if anyone could provide a simple schematic of the wiring? I'm wanting to keep the design small so no breadboard if possible.

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It's not clear what you mean with "adapter to regulate voltage".

Typically, one would use some form of driver.

The TB6612FNG, for example, comes on PCB, both as standalone and with additional chip with I2C interface, like this one: https://wiki.wemos.cc/products:d1_mini_shields:motor_shield

It is very convenient if you need to use multiple motors, as you can have several configurabe I2C addresses, and each driver has 2 channels.

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