18 v ac ip

D4

1N4007

1N4007

U8

7805

7812

VI

VO

VI

GND

U1

VO

GND

D1

D3

D2

C1

C2

1000Uf

470Uf

CONN-SIL2

5VCC
2

AC IP
1
2

1
2
CONN-SIL2

1N4007

1N4007

ULTRASONIC SENSOR
1
2
3
4
5
CONN-SIL5

C3

R2

U2 MOTHER BOARD
X1
C4
33pf

RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2
RC2/CCP1
RC3/SCK/SCL
RC4/SDI/SDA
RC5/SDO
RC6/TX/CK
RC7/RX/DT

21
22
23
24
25
26
27
28
11
12
13
14
15
16
17
18

PIC16f73
16
2
7
1

9
10
15

IN1
IN2
EN1

EN2
IN3
IN4

U3

VSS

VS

GND

GND

LEFT MOTOR

OUT1
OUT2

OUT3
OUT4

3
6

11
14

RIGHT MOTOR

L293D

C5

POWER BRIDGE

VI

SERVO UPERARM

7805
2

GND

VO

+88.8

11
12
13
14
15
16
17
18

U5

SERVO FOREARM
+88.8
1

PIC16f73

RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2
RC2/CCP1
RC3/SCK/SCL
RC4/SDI/SDA
RC5/SDO
RC6/TX/CK
RC7/RX/DT

21
22
23
24
25
26
27
28

VI

RA0/AN0
RA1/AN1
RA2/AN2
RA3/AN3/VREF+
RA4/T0CKI
RA5/AN4/SS

RB0/INT
RB1
RB2
RB3
RB4
RB5
RB6
RB7

U6
7805

SERVO FINGER
2

GND

+88.8
VO

2
3
4
5
6
7

OSC1/CLKIN
OSC2/CLKOUT
MCLR/Vpp

1nF

CRYSTAL

C6

9
10
1

VI

X2

U4_SUB BOARD

1nF

U7
7805

GND

VO

1uF

RA0/AN0
RA1/AN1
RA2/AN2
RA3/AN3/VREF+
RA4/T0CKI
RA5/AN4/SS

RB0/INT
RB1
RB2
RB3
RB4
RB5
RB6
RB7

C7

LED-RED-power

2
3
4
5
6
7

OSC1/CLKIN
OSC2/CLKOUT
MCLR/Vpp

+88.8

D5

CRYSTAL 4mhz

9
10
1

+88.8

33pf

10k

kRPM

R1

kRPM

10k

BRIDGE