4 4

3 3

2 2 1

D D

D D

+5V +5V 4 POS MOLEX 6V PWR IN 5V OUT COM COM

LM2931Z-5.0
IN COM OUT

1k

470uf 10k Pic-key Port (optional for prog.)

.1uf

Prog. Active

2N4401 C C
+5V

IN4148 10k 16F876 MCLR/Vpp R1 20k AN1/A.1 R2 20k

Right wheel calib. Left wheel calib.

CC

B.7 B.6 B.5 B.4 B.3 B.2 B.1 B.0 V+ VGND C.7 C.6 C.5 C.4 Green LED 330 ohm 10uf
+5V

AN0/A.0

AN2/A.2 AN3/A.3 A.4

+5V

AN4/A.5 B B 20 mhz X1 VGND CLKIN CLKOUT

Front Sensor Back Sensor

GP2D12

GP2D12

Left Wheel Servo

3300mf

C.0 C.1 C.2 C.3

Right Wheel Servo

A A

Balibot Controller
Uses a 16f876 PIC Design by: Bill Sherman Date: 6-11-03

A A

4 4

3 3

2 2

1 1