X1-1

X1-2

X2-1

X2-2

X3-1

X3-2

X4-1

X4-2
COIL1

COIL2

COIL3

COIL4
COIL1-IN

COIL2-IN

COIL3-IN

COIL4-IN
R1

R2

R3

R4
1k

1k

1k

1k
D1 IN OUT
D2 IN OUT
D3 IN OUT
D4 IN OUT
US1M US1M US1M US1M
GND GND GND GND
C1 IC1 C2 C3 IC2 C4 C5 IC3 C6 C7 IC4 C8

+12V
78M05 78M05 78M05 78M05

+12V

+12V

+12V
330n 100n 330n 100n 330n 100n 330n 100n
+5V

+5V

+5V

+5V
D5 D6 D7 D8
US1M US1M US1M US1M
10k

10k

10k

10k
GND GND GND GND
R5

R6

R7

R8
Q1 Q2 Q3 Q4
Q5 IRFR120N Q6 IRFR120N Q7 IRFR120N Q8 IRFR120N
BC807 BC807 BC807 BC807
R9 R10 R11 R12
COIL1-OUT COIL2-OUT COIL3-OUT MOSI/COIL4-OUT

1k 1k 1k 1k

GND GND GND GND

+12V

+3V3
+5V

+5V
PWR-LED
IN OUT
IN OUT
GND

JP1
C11 C12

1
2
C9 IC5 C10 GND

+5V
+

78M05 GND C13 IC6 C14

+
330n 100n 4700uF/25V 4700uF/25V 150R
LM1117-3.3
R13 10u tantalum 10u tantalum
GND

SUPPLY
X5-1

X5-2
GND
GND

+5V
+5V

12 30
PB0(ICP1/CLKO/PCINT0) PD0(RXD/PCINT16) X6-1

+3V3
COIL1-OUT RX_ATMEGA
13 31

+5V
COIL2-OUT PB1(OC1A/PCINT1) PD1(TXD/PCINT17) TX_ATMEGA
14 32 QS-SENSOR
PB2(SS/OC1B/PCINT2) PD2(INT0/PCINT18)
4*2

COIL3-OUT INT_HC-06
15 1
GND UCC
3*3 IC7PWR

MOSI/COIL4-OUT PB3(MOSI/OC2A/PCINT3) PD3(INT1/OC2B/PCINT19) QS-SENSOR X6-2

C15 C16 16 2

+5V

+5V
MISO PB4(MISO/PCINT4) PD4(T0/XCK/PCINT20) COIL1-IN
17 9
SCK PB5(SCK/PCINT5) PD5(T1/OC0B/PCINT21) COIL2-IN
100n 100n

BLUETOOTH
7 10

330R
PB6(XTAL1/TOSC1/PCINT6) PD6(AIN0/OC0A/PCINT22)

R14
XTAL1 COIL3-IN
8 11

1
PB7(XTAL2/TOSC2/PCINT7) PD7(AIN1/PCINT23)

R15

R16
XTAL2 COIL4-IN

10k

10k
1

10uH
23 19
QS-SENSOR PC0(ADC0/PCINT8) ADC6

SW1
L1
24 22
PC1(ADC1/PCINT9) ADC7
GND 25 GND ON
PC2(ADC2/PCINT10) TX_HC-06 RX_ATMEGA
26 18

2
PC3(ADC3/PCINT11) AVCC
27 20 JP2

Q9
BSS138
SDA PC4(ADC4/SDA/PCINT12) AREF
28 1
SCL PC5(ADC5/SCL/PCINT13)
RESET
29
PC6(RESET/PCINT14) IC7 C17 C18 2
3
ATMega328P-AU
+5V

TX_HC-06
100n 100n 4

+5V
R17 RX_HC-06

+5V
RESET
JP3 R18
10k SCL GND HC-06
GND GND 1
10k
2 TX_ATMEGA
3
SCL
4
R19
+5V

SDA SDA
5
+5V

JP4 10k
GND 6
XTAL1

XTAL2

R20
SV1

10k
GND 3 2 VTG 7
6 5 GND 4 5 RST
AD0
8
R21
RESET INT_HC-06 AD0
16MHz
RESET

4 3 GND 6 1 MOSI
TX_ATMEGA MOSI/COIL4-OUT 4k7
RX_ATMEGA
2 1 GND 8 9 MISO
MISO Q10 MPU6050 RX_HC-06
GND 10 7 SCK
SCK
UART C19 C20 GND
GND AVR ISP
GND 22p 22p

R22
10k
GND GND