J4

VBA VCC VCC VCC

7.2V

R35

R18

R19

R20

R21

R37

R22

R23
R36
VCC

82R

4K7
82R

4K7

82R

4K7
U51

x
SW2

x
D2 SW1 D1
LM2940CT
5.0
J4 C2 C3 C1 D12 D13 D14
10uF 10uF 100uF

J3 J1
R40 R39 R38
J2 RA1/ A 220R RA3/ RA5/
J3
A 220R A 220R
ADC1 ADC3 ADC4
+5V

NiMh

NiMh
NiMh

NiMh

NiMh

1,2V AA

1,2V AA
1,2V AA

1,2V AA

1,2V AA

1,2V AA

1,2V AA
1,2V AA

1,2V AA

1,2V AA

NiMh

NiMh
T1 T2 T3
NiMh

NiMh

NiMh

RA0 R25 RA2 R27 RA4 R28

4K7 T4 4K7 T5 4K7 T6

LEFT FRONT RIGHT

D12,D13,D14:TSAL5100 T1,T2,T3: BPV11F T4,T5,T6: BC847B
RB1/ RB0/
SCL SDA VCC

D D VCC VCC
R30

R31

R32

R33
220R

220R

I2C
10K
10K

CONN.
JP1 R43 RD0 RD1 RD2 RD3 RD4 RD5 RD6 RD7 VCC
VCC VCC
220R D D D D D D D D
RB0/SDA

R5
R6

330R
330R
RB1/SCL 220R TCRT5000
GND JP2 R42
J14
U4
J15 J16

R8

R12
U3

SW5

R9

R10

R11

R13

R14

R15

SW4
560R
560R

560R

560R

560R

560R

560R
560R
RB5 RB4
TCRT5000 D D

R16
R17

LEFT RIGHT

4K7
4K7

D4 D5 D6 D7 D8 D9 D10 D11

VCC RC0 VCC SD1

D 1 RD0 6 RD5
R7 5 4 3 2 1
100K
10K

R26 9 8 7 6 2 RD1 7 RD6

P1 R24
3 RD2 8 RD7
4K7

10K

RB3/ADC9 RB2/
A 4 RD3 9 GND
R29 INT2/
72K

R41 ADC8 5 RD4

220R AD
1uF 10V
LDR MIC BC817
B1 C7 T7
R34
22K

VCC VCC VBA

1,2EN 1 16 8 U52

3,4EN 9
VBA L293D

2
3
RC1-PWM D 1A
RC4/ RC5/
VCC VCC VCC VUSB PWM (SPEED) J8
USB USB 1
LEFT

USB_B1
VBA
M
R1

USB 80
10K

2 3
OSC1 255
7 6
R2

X1
‘0’ RE0 2A
150R

/RESET D
C4 C5 C6 4MHz
10n 10n 220n DIRECTION J8 SPEED
RE2/ 1
30%
USB
BACKWARDS
SW3

VBA
R3

R4
390R
10K

OSC2
10
11
D3 RC2-PWM D 3A
PWM (SPEED) J11
1
RIGHT

80 175 VBA
M
255

15
I2C SERVO 14
CONN. OUTPUTS ‘1’ RE1 D 4A
DIRECTION J11 SPEED
1 70%
VCC RC1-PWM D RC2-PWM D 4 5
RB0/SDA VCC FORWARDS
VCC 12 13
RB1/SCL GND GND
GND J5 J6
J14
VCC VBA

UART
CONN. WHEEL ENCODER
INPUTS C9 C11 C8 C10
VCC
RC6/TXD RB6 D RB7 D
RC7/RXD VCC VCC
GND GND GND
J10 J7 J9

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