All of my robots that I have created use a motor controller board similar to the Rover 5 four channelmotor controller that I use in BuddyBot. These motor controllers are very convenient and easy to use however they can get a little expensive when you are on a budget and want to create multiple robots. Fortunately an H-Bridge is a very cheap alternative to the more expensive motor controllers boards. In this post I will show how to drive two motors with the L293D H-Bridge and the BeagleBone Black. We will use Swift to program the H-Bridge.