Darlington ULN2803 Question

If I am using a Darlington ULN2803 do I need any sort of resistor between the pins on the Arduino and the input for the Darlington?

No, there is already a resistor in the ULN2803 (typically 2.7k or so).

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The Rugged Motor Driver: two H-bridges, more power than an L298, fully protected

thanks