VR2 +3.

3V
+3.3V +9V

+3.3V
LM1117 - 3.3

velocidad
10K +3.3V

3
+ 1u 2 OUT IN CON1-1 +9V R2
C1 CON1-2 GND

+
C3 10K GND

1
10u/16V 220R CON2-1 Entrada sensor

R1
S1 IC1 CON1-3 RX
GND CON1-4 TX CON2-2 GND
GND CON2-3 +3.3V
GND

+3.3V
3 1 GND MOLEX
4 2
MEGA88
1 28

8
GND

10K
PC6(/RESET) PC5(ADC5/SCL)
2 PD0(RXD) PC4(ADC4/SDA) 27 3
3 PD1(TXD) PC3(ADC3) 26 1
4 25 2 R3

+3.3V
PD2(INT0) PC2(ADC2)
5 PD3(INT1) PC1(ADC1) 24 IC4A
GND

4
6 PD4(XCK/T0) PC0(ADC0) 23 LM358 R4
+3.3V 7 22
C4 VCC AGND GND 220R CON3-1 Entrada sensor

+3.3V
GND CON3-2 GND
8 21 5
0.1u GND AREF CON3-3 +3.3V
7 GND
GND 9 20 6
PB6(XTAL1/TOSC1) AVCC
10 PB7(XTAL2/TOSC2) IC4B

10K
LM358

+3.3V
11 PD5(T1) PB5(SCK) 19
12 18 R5

8
PD6(AIN0) PB4(MISO)

+3.3V
13 PD7(AIN1) PB3(MOSI/OC2) 17 3
PB2(SS/OC1B) 16 1 GND
14 PB0(ICP) PB1(OC1A) 15 2 R6
IC5A 220R CON5-1 Entrada sensor

4
IC2 LM358
CON5-2 GND

SWS002
4
3
ON GND GND CON5-3 +3.3V

S2
1 2 5

10K
7
1
2
6
GND IC5B R7

+3.3V
LM358

+3.3V
GND
R8

8
3
1
220R CON6-1 Entrada sensor
2 CON6-2 GND
+3.3V
IC6A GND CON6-3 +3.3V
IC3

4
LM358
1 1-2EN VCC1 16

10K
GND
2 1A 4A 15
5 R9
3 14 7

+3.3V
CON4-1 1Y 4Y
6 GND
CON4-2

VR1 +3.3V
4 GND1 GND3 13 IC6B R10

umbral
CON4-3 LM358
5 12 220R CON7-1 Entrada sensor

3
CON4-4 GND2 GND4
GND GND 2 CON7-2 GND
MOLEX 6 11
1,2 Motor izquierdo 2Y 3Y 10K GND CON7-3 +3.3V

1
3,4 Motor derecho 7 2A 3A 10
GND
+9V

10K
8 VCC2 3-4EN 9

L293D R11

+3.3V
GND
R12
220R CON8-1 Entrada sensor
CON8-2 GND
GND CON8-3 +3.3V

10K
+

C2
1u
R13
GND GND