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I have a L9110 motor driver board that I am using to power a motor from my Raspberry Pi. Can I use the Raspberry Pi's 5V output to power the motor driver?

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The Pi Zero has minimal (i.e. NONE) power circuitry. The 5V output is directly connected to the 5V input - so (unless you are drawing so much power it melts the PC board traces) it will output whatever you input.

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