At each switch position, a diode is connected in series with the motor, thus causing a small reduction in the voltage it receives. With this, the applied power can be controlled. In this case, we have a 6-position switch. The diodes can be 1N4002 for motors up to 1 A. The circuit is from the book Robotics, Mechatronics and Artificial Intelligence by Newton C. Braga.
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