1 2 3 4 5 6

+VDC U1 U2
J1 D1
+BATT LM1117-5.0 +5VD +5V LM1117-3.3 +3.3V
BAT MBRA340
2 3 2 3 2
VI VO VI VO

GND

GND
1 C1 C2 D2 C3 C4
100nF 10uF LED_Small 100nF 10uF

1
GNDREF R1
+VDC
680
A J2 A
1
GNDREF
2
J4
BAT1 SEL 1
GNDREF +5VD SW1 J3
2 +3.3V BOOT_M
+5V

1
3
+5VA
+3.3V BOOT0 R2 330
SW2 GNDREF
R4 SW0 U3
R3 +BATT
4.7K BLUEPILL
220 +5V
1 40
SW0 VBAT 3.3V C5
AUX5 2 39 +5V U4
GNDREF PC13 GND C6 100nF

16
L293D

8
+3.3V 3 38
PC14 5V 100nF
SW3 4 37 HL

VCC1

VCC2
R6 PC15 PB9 GNDREF
SW1 R5 A0 5 36 HR
4.7K PA0 PB8 GNDREF
220 A1 6 35 IN3 IN1 2 3 M1Y
PA1 PB7 1A 1Y 1 J6 1
SW1 A2 7 34 IN4 J5 GNDREF
PA2 PB6 2 2
GNDREF AUX4 8 33 AUX0 IN2 7 6 M2Y M1 +5VA
+3.3V PA3 PB5 2A 2Y 3 RX
SW4 SW0 9 32 AUX1
PA4 PB4 4 TX
R8 SW2 SW1 10 31 AUX2 EN1 1
B R7 PA5 PB3 EN1,2 B
4.7K SW2 11 30 AUX3 UARTBOOT
220 PA6 PA15
SW3 12 29 IN3 10 11 M3Y
SW2 PA7 PA12 3A 3Y 1
EN2 13 28 J7
GNDREF PB0 PA11 2 J8
+3.3V EN1 14 27 RX IN4 15 14 M4Y M2 TX1 1 2 AUX4
PB1 PA10 4A 4Y
SW5 TX1 15 26 TX RX1 3 4 AUX5
R10 PB10 PA9
SW3 R9 RX1 16 25 SERVO EN2 9 5 6
4.7K PB11 PA8 EN3,4 +5V
220 17 24 IN1 7 8
~{RESET} PB15 +3.3V

GND
GND

GND
GND
SW3 18 23 IN2
3.3V PB14 AUX
GNDREF 19 22 TRIGGER GNDREF
GND PB13

12
13
4
5
20 21 ECHO
GND PB12

GNDREF
+3.3V GNDREF J9
1 SERVO
J10
2
H&SPI +5V
HL 1 2 HR 3
GNDREF
LED_G

LED_R

LED_Y
LED_B

3 4
D3

D4

D5

D6

GNDREF GNDREF SERVO

5 6
+5V +5V
R11 R12 R13 R14 AUX0 7 8 AUX2
330 330 330 330 AUX1 9 10 AUX3 J11
C 1
GNDREF C
11 12
GNDREF +3.3V 2 ECHO
IN1 IN2 IN3 IN4
3 TRIGGER
4
+5V
HCSR04

H1 H2 H3 H4
MountingHole MountingHole MountingHole MountingHole
+3.3V

R15 R16 R17 R18 R19 R20

220 220 220 220 220 220
TCRT5000 TCRT5000 TCRT5000
1 4 1 4 1 4
C A C A C A
A0 2 3 A1 2 3 A2 2 3
E K E K E K
R21 U5 R22 U6 R23 U7
2.2K 2.2K 2.2K
Sheet: /
D File: CP3_2022.kicad_sch D

Title:
GNDREF
Size: A4 Date: Rev:
KiCad E.D.A. kicad (6.0.2) Id: 1/1
1 2 3 4 5 6