Motors

Minimum PWM Duty Cycle required 40%,unknown Hz,6v

Documents on PWM for gumstix: Jumpnowtek , PWM driver

PWM timer/motor map as determined by the hardware wiring:
(Note: schematic was ambiguous about left vs. right, so they may be flipped, but front/rear distinction is correct)
PWM timer 8 (GPT8): front left motor
PWM timer 9 (GPT9): front right motor
PWM timer 10 (GPT10): rear right motor (not a typo!)
PWM timer 11 (GPT11): rear left motor

GPIO Pins/motor map as determined by the hardware wiring:
(Note: schematic was ambiguous about left vs. right, so they may be flipped, but front/rear distinction is correct)
GPIO70: front left motor IN1
GPIO71: front left motor IN2
GPIO72: front right motor IN1
GPIO73: front right motor IN2
GPIO74: rear left motor IN1
GPIO75: rear left motor IN2
GPIO76: rear right motor IN1
GPIO77: rear right motor IN2