digital-logicdrivermotor
I am trying to figure out how to use an SN75441ONE h-bridge. I have it hooked up like this:
Pins 1, 8 and 16 are connected to the positive rail (+5 V). Pins 4, 5, 12 and 13 are connected to ground. Everything else is left alone. My expectation is that since all the input pins are LOW (here unconnected), the output pins should also be LOW. However, the output pins are all HIGH. What is going on here?
From the photo it seems that you connected the 2803 correctly, but the path from the relay coils back through the 2803's flyback diodes is a bit long. To check whether this is your problem you could try either wit a separate 5V supply for the relays, or with flyback diodes directly across the relay coils.
A long line is effectively a (small) resistor in series with a (small) inductor. (Actually, there is also a capacitor, and if you need to be precise there is a large string of resistors, inductors and capacitors). A lot of times you can ignore these, but in this case, there can be large current spikes that result in voltage spikes, which can affect your microcontroller.
If you have the chance, use 12V relays, powered from a 12V wall-wart, and use a 7805 or the like to power your microcontroller.
That's probably happening because the motor's causing a brown out on the Arduino power supply, or causing a lot of noise on the RESET pin of the AVR. Make sure that you've pulled the reset pin to 5V with a smallish resistor (no greater than 10K). Since you're using an Arduino, though, its probably already on the board.
You may be able to confirm this by looking at MCUCSR immediately on reset, ie, right at the beginning of the main() function before you do anything else. You should also be able to see lots of noise on the AVR power supply pins (VCC vs GND), and probably also see the supply level dropping to a much lower voltage than what you'd expect. This is happening because even though you may be using separate supplies, when there's a sudden change the motor's current requirement, it's inductance will draw the power from wherever it can. This means that by the time the current from the separate power supply is available, it'd have dumped a whole lot of noise on the ground, and also pulled power through the IO pin of the atmega which is driving the SN754410, as well as through 5V at the 754410 itself.
The problem is exacerbated by the way in which you're driving the motors and what you're doing to them. By tying the 1,2EN input (pin 1) to 5V, you've ensured that the driver is continuously driving the motor. Each time the motor switches direction, it experiences the worst case condition possible, where it has to go from one extreme to the other extreme. The sudden change in direction of driving and the time the motor will take to respond causes a period during which its going to pump reverse EMF back into the driver and subsequently cause contamination at the ground. Additionally, since the situation is actually worse than a stall, the current consumed is something like 5 times higher than the steady state current required by the motor normally.
In order to fix the problem, there are a few things you can try.
Add diodes on the motor lines to prevent the reverse EMF from reaching the 754410. It'll cause some contamination to the 9V supply and the Ground, but that can be localized to near the motor and not let the AVR see it as much. You should have these in any case. For an example for how this can be done (from the datasheet of the L293, a similar IC), see : 
(source: datasheetdir.com)
Add heavy decoupling on both the supply lines. Separately decouple the 5V for the AVR and the 5V for the SN754410. Use something like 10uF electrolytic/tantalum with 100nF ceramic in parallel with each, at least. Decouple the 9V supply with something much higher, say 100uF. Try to reduce the contact resistance of the wires bringing in the 9V supply.
Best Answer
From the input circuit show in the datasheet I expect a non-connected input to behave as a 1 (current must be sunk to drive it low), exactly what you are experiencing.