# EP4 — Two-N20 Rover

A two-wheel rover driven by N20 gear motors through a DRV8833.

## Wiring
Identical to the [DRV8833 episode](https://minirobo.io/episodes/drv8833.html) — the N20s are
simply what you bolt to the driver's outputs.

## Choosing N20s
- **Low RPM** (~100) = slow + strong → climbers, heavy bots.
- **High RPM** (~300+) = fast + weak → zippy racers.
- A mid-range RPM is the sweet spot for a typical little rover.

## Gotchas
- **N20-specific wheels only** — the D-shaft is a particular size; round wheels slip.
- **Don't stall it** — a jammed, powered motor pulls max current and cooks itself.
- **Ceramic cap** across the terminals kills noise at the source.
- Two motors won't run identical — raise/lower `RIGHT_TRIM` until it tracks straight, or use
  the **encoder** version of the N20 for closed-loop control.

More: https://minirobo.io/episodes/n20.html