Pololu 3pi Robot Simplified Schematic Diagram

J20

reverse protection VBAT VBOOST VCC

2
1
J7 Q1
+
2 VIN VOUT VIN VOUT
1
SW1 9.25 V
CHARGE boost 5.0 V
R33 linear
switching 1k
POWER regulator regulator
+ L2
10 uH

BTN1

BTN2

GND

GND
B1 D5
R4a R4b BLUE
2xAAA 1k 1k
VIN VOUT
AVCC
pushbutton
power circuit D1b
+ T1
D1a D6

GND
B2 BLUE C18
2xAAA 5V zener 0.1 uF

U3 VCC AVCC VCC VBOOST

BZ1
14 6 C21
PB2 (SS/OC1B) VCC 4 2.2 nF
PB0 12 VCC
BUZZER PB1 13 PB0 (CLKO/ICP1) 18 PC0 R12
PB4 16 PB1 (OC1A) AVCC 20
PB4 (MISO) AREF 220
PB5 17
PB5 (SCK) VCC
PD2 32 30 PD0 U4
PD2 (INT0) PD0 (RXD) C22
PD4 2 31 PD1 2.2 nF
PD7 PD4 (XCK/T0) PD1 (TXD)
11
PD7 (AIN1)
PC0 (ADC0)
23 PC1 R13
24
PC1 (ADC1) 25 220
PD6 10 PC2 (ADC2) 26 VCC
PD5 PD6 (OC0A/AIN0) PC3 (ADC3)
9 27 U5
PB3 15 PD5 (OC0B/T1) PC4 (ADC4/SDA) 28 C23
PB3 (MOSI/OC2A) PC5 (ADC5/SCL) 2.2 nF
PD3 1
PD3 (OC2B/INT1)
7 ADC6 19 ADC6 PC2 R14
8 PB6 (XTAL1/TOSC1) 22 ADC7
1 3 PB7 (XTAL2/TOSC2) ADC7 J4 220
29 PC6 VCC VCC
PC6 (RESET)
GND
GND 3
GND 5
GND 21

VCC U6
C24
1
2

Y1
2

2.2 nF
33

20 MHz ATmega168 R15 R16

10k 10k PC3 R17
microcontroller 220
VCC
U7
C25
SW2 2.2 nF
C26 RESET
VCC VCC 0.1 uF PC4 R19
J1
PB4 220
1 2
LCD1 PB5 3 4 PB3
PC6 5 6 reflectance U8
1 sensor array
Vss AVRISP
R25b 1k and IR LED
2 programming control VCC
VDD R18 R20 R21
connection 220 220
3 10k R25a 1k J5
Vo PD7
4 PD2
RS R23
R26b 1k
2
1

5 PB0 D4a D4b 47k

R/W
R26a 1k GREEN T1
6 PD4 PD1 PC5 LEDON
E
Q4
7
DB0
8 R22 D3a D3b
DB1 RED T1
9 10k VCC VBOOST VCC
DB2
U9
10 PB3 21 24
DB3 AIN1 VM1
PD3 22 13
11 PB1 23 AIN2 VM2 14
DB4 PWMA VM3
12 PB4 VBAT 20 C27 0.1 uF
DB5 Vcc
PD5 17
13 PB5 J6 PD6 16 BIN1
DB6 BIN2
15 1 M2
14 PD7 PWMB AO1 2 MO3
DB7 R30 R31 AO1
PC6 19
2
1

20k 20k STBY

A B C 5 MO4
LCD8X2 AO2 6
ADC6 18 AO2
GND
11
3 BO1 12 MO2
R27 R28 R29 PGND1 BO1
1k 1k 1k R32 4 M1
9 PGND1 7 MO1
8x2 character LCD 20k PGND2 BO2
and user pushbuttons 10 8
battery voltage PGND2 BO2
sensing circuit TB6612FNG
C28 0.1 uF
motor driver and motors

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