Robotics platform

Robotics platform Git Source Tree

Root/KiCad/connectors.sch

1	EESchema Schematic File Version 2 date dom 03 oct 2010 18:02:12 COT
2	LIBS:dc-dc
3	LIBS:headers
4	LIBS:lm3478
5	LIBS:mpc17529
6	LIBS:mmbt2222a
7	LIBS:mm74hc14m
8	LIBS:device
9	LIBS:hole
10	LIBS:SIE_power_module-cache
11	EELAYER 24 0
12	EELAYER END
13	$Descr A4 11700 8267
14	Sheet 4 5
15	Title ""
16	Date "3 oct 2010"
17	Rev ""
18	Comp ""
19	Comment1 ""
20	Comment2 ""
21	Comment3 ""
22	Comment4 ""
23	$EndDescr
24	$Comp
25	L HOLE J23
26	U 1 1 4CA8F8B9
27	P 4900 6800
28	F 0 "J23" H 4800 7100 60 0000 C CNN
29	F 1 "HOLE" H 4900 6800 60 0000 C CNN
30	1 4900 6800
31	1 0 0 -1
32	$EndComp
33	$Comp
34	L HOLE J22
35	U 1 1 4CA8F8AC
36	P 4900 6250
37	F 0 "J22" H 4800 6550 60 0000 C CNN
38	F 1 "HOLE" H 4900 6250 60 0000 C CNN
39	1 4900 6250
40	1 0 0 -1
41	$EndComp
42	Text GLabel 9150 5300 2 20 BiDi ~ 0
43	RX1_FPGA
44	Text GLabel 9150 5250 2 20 BiDi ~ 0
45	TX1_FPGA
46	Text GLabel 8050 5350 2 20 BiDi ~ 0
47	RX1_FPGA
48	Text GLabel 8050 5300 2 20 BiDi ~ 0
49	TX1_FPGA
50	Text GLabel 8050 5250 2 20 BiDi ~ 0
51	JZ4725_SCK
52	Text GLabel 8050 5200 2 20 BiDi ~ 0
53	JZ4725_SDA
54	Wire Wire Line
55	8050 5350 7750 5350
56	Wire Wire Line
57	8050 5250 7750 5250
58	Wire Wire Line
59	9200 5350 8950 5350
60	Wire Wire Line
61	9150 5250 8950 5250
62	Wire Wire Line
63	6700 4300 7000 4300
64	Wire Wire Line
65	6700 4200 7000 4200
66	Wire Wire Line
67	7000 5200 6700 5200
68	Wire Wire Line
69	7100 3950 7500 3950
70	Wire Wire Line
71	7150 3900 7500 3900
72	Wire Wire Line
73	9000 3950 8900 3950
74	Wire Wire Line
75	8400 3950 8000 3950
76	Wire Wire Line
77	8250 3900 8000 3900
78	Wire Notes Line
79	6150 4850 6150 3650
80	Wire Notes Line
81	6150 4850 9350 4850
82	Wire Notes Line
83	9350 4850 9350 3650
84	Wire Notes Line
85	9350 3650 6150 3650
86	Wire Wire Line
87	6750 5950 6900 5950
88	Wire Wire Line
89	7400 5950 7450 5950
90	Wire Wire Line
91	7450 5950 7450 6050
92	Wire Wire Line
93	7450 6050 7800 6050
94	Wire Wire Line
95	8650 6100 8300 6100
96	Wire Wire Line
97	8650 6050 8300 6050
98	Wire Wire Line
99	9150 2550 8800 2550
100	Wire Wire Line
101	9100 1900 8700 1900
102	Wire Wire Line
103	8700 2000 8850 2000
104	Wire Wire Line
105	8850 2100 8800 2100
106	Wire Wire Line
107	8800 2100 8800 2000
108	Connection ~ 8800 2000
109	Wire Wire Line
110	6500 2550 6850 2550
111	Wire Wire Line
112	7500 2600 7300 2600
113	Wire Wire Line
114	2650 5600 2550 5600
115	Wire Wire Line
116	1600 5600 1550 5600
117	Wire Wire Line
118	8250 3150 8000 3150
119	Wire Bus Line
120	7350 6750 7450 6750
121	Wire Bus Line
122	7450 6750 7450 6450
123	Wire Wire Line
124	6700 6600 6900 6600
125	Wire Bus Line
126	6600 6450 6600 6750
127	Wire Bus Line
128	6600 6750 6500 6750
129	Wire Wire Line
130	7800 6000 7550 6000
131	Wire Wire Line
132	8650 6000 8300 6000
133	Wire Notes Line
134	6150 4950 6150 5600
135	Wire Notes Line
136	6150 4950 9350 4950
137	Wire Notes Line
138	9350 4950 9350 5600
139	Wire Notes Line
140	9350 5600 6150 5600
141	Wire Wire Line
142	6700 5250 6950 5250
143	Wire Notes Line
144	6150 2900 6150 2350
145	Wire Notes Line
146	6150 2900 9350 2900
147	Wire Notes Line
148	9350 2900 9350 2350
149	Wire Notes Line
150	9350 2350 6150 2350
151	Wire Notes Line
152	9350 1650 6150 1650
153	Wire Notes Line
154	9350 1650 9350 1100
155	Wire Notes Line
156	9350 1100 6150 1100
157	Wire Wire Line
158	6850 2650 6600 2650
159	Wire Wire Line
160	8350 2650 8100 2650
161	Wire Wire Line
162	3800 1700 3500 1700
163	Wire Wire Line
164	3800 1600 3500 1600
165	Wire Wire Line
166	3450 4750 3250 4750
167	Wire Wire Line
168	7150 1900 6750 1900
169	Wire Wire Line
170	8950 1300 8400 1300
171	Wire Wire Line
172	7450 1300 6900 1300
173	Wire Wire Line
174	6750 2000 6900 2000
175	Wire Wire Line
176	3450 3250 3250 3250
177	Wire Wire Line
178	3450 3150 3250 3150
179	Wire Wire Line
180	4950 3200 4750 3200
181	Wire Wire Line
182	4950 3100 4750 3100
183	Wire Wire Line
184	2000 3250 1800 3250
185	Wire Wire Line
186	2000 3150 1800 3150
187	Wire Wire Line
188	3300 3850 3550 3850
189	Wire Wire Line
190	3300 3750 3550 3750
191	Wire Wire Line
192	1800 3850 2050 3850
193	Wire Wire Line
194	1800 3750 2050 3750
195	Wire Wire Line
196	1650 2050 1450 2050
197	Wire Wire Line
198	1650 1950 1450 1950
199	Wire Wire Line
200	1650 1850 1450 1850
201	Wire Wire Line
202	1650 1750 1450 1750
203	Wire Wire Line
204	1650 1650 1450 1650
205	Wire Wire Line
206	1650 1550 1450 1550
207	Wire Wire Line
208	1400 2400 1650 2400
209	Wire Wire Line
210	1400 2300 1650 2300
211	Wire Wire Line
212	1400 2200 1650 2200
213	Wire Wire Line
214	2250 2300 2500 2300
215	Wire Wire Line
216	2250 2200 2500 2200
217	Wire Wire Line
218	2250 1950 2450 1950
219	Wire Wire Line
220	2250 1850 2450 1850
221	Wire Wire Line
222	2250 1750 2450 1750
223	Wire Wire Line
224	2250 1650 2450 1650
225	Wire Wire Line
226	2250 1550 2450 1550
227	Wire Wire Line
228	2250 1450 2450 1450
229	Wire Wire Line
230	2350 2100 2250 2100
231	Wire Wire Line
232	1550 2150 1650 2150
233	Wire Wire Line
234	1550 1450 1650 1450
235	Wire Wire Line
236	1550 2100 1650 2100
237	Wire Wire Line
238	2250 2050 2350 2050
239	Wire Wire Line
240	2250 2150 2350 2150
241	Wire Wire Line
242	2450 1500 2250 1500
243	Wire Wire Line
244	2450 1600 2250 1600
245	Wire Wire Line
246	2450 1700 2250 1700
247	Wire Wire Line
248	2450 1800 2250 1800
249	Wire Wire Line
250	2450 1900 2250 1900
251	Wire Wire Line
252	2450 2000 2250 2000
253	Wire Wire Line
254	2500 2250 2250 2250
255	Wire Wire Line
256	2500 2350 2250 2350
257	Wire Wire Line
258	1650 2250 1400 2250
259	Wire Wire Line
260	1650 2350 1400 2350
261	Wire Wire Line
262	1450 1500 1650 1500
263	Wire Wire Line
264	1450 1600 1650 1600
265	Wire Wire Line
266	1450 1700 1650 1700
267	Wire Wire Line
268	1450 1800 1650 1800
269	Wire Wire Line
270	1450 1900 1650 1900
271	Wire Wire Line
272	1450 2000 1650 2000
273	Wire Wire Line
274	2050 3700 1800 3700
275	Wire Wire Line
276	2050 3800 1800 3800
277	Wire Wire Line
278	3550 3700 3300 3700
279	Wire Wire Line
280	3550 3800 3300 3800
281	Wire Wire Line
282	1800 3100 2000 3100
283	Wire Wire Line
284	1800 3200 2000 3200
285	Wire Wire Line
286	3250 3100 3450 3100
287	Wire Wire Line
288	4750 3150 4950 3150
289	Wire Wire Line
290	4750 3250 4950 3250
291	Wire Wire Line
292	3250 3200 3450 3200
293	Wire Wire Line
294	2500 2400 2250 2400
295	Wire Wire Line
296	7450 1400 6900 1400
297	Wire Wire Line
298	8950 1400 8400 1400
299	Wire Wire Line
300	6900 2100 6850 2100
301	Wire Wire Line
302	6850 2100 6850 2000
303	Connection ~ 6850 2000
304	Wire Bus Line
305	3400 1500 3400 1950
306	Wire Bus Line
307	3400 1950 3250 1950
308	Wire Wire Line
309	3450 4700 3250 4700
310	Wire Wire Line
311	3450 4650 3250 4650
312	Wire Wire Line
313	3800 1650 3500 1650
314	Wire Wire Line
315	3800 1750 3500 1750
316	Connection ~ 7800 2000
317	Wire Wire Line
318	7800 2000 7800 2100
319	Wire Wire Line
320	7800 2100 7850 2100
321	Wire Wire Line
322	7700 2000 7850 2000
323	Wire Wire Line
324	8100 1900 7700 1900
325	Wire Wire Line
326	3450 4600 3250 4600
327	Wire Wire Line
328	9050 2600 8800 2600
329	Wire Wire Line
330	8350 2600 8100 2600
331	Wire Wire Line
332	8800 2650 9050 2650
333	Wire Wire Line
334	7300 2650 7550 2650
335	Wire Notes Line
336	6150 1100 6150 1650
337	Wire Notes Line
338	6150 2250 6150 1700
339	Wire Notes Line
340	6150 2250 9350 2250
341	Wire Notes Line
342	9350 2250 9350 1700
343	Wire Notes Line
344	9350 1700 6150 1700
345	Wire Wire Line
346	8000 3250 8250 3250
347	Wire Wire Line
348	8250 3200 8000 3200
349	Wire Wire Line
350	8250 3300 8000 3300
351	Wire Notes Line
352	9350 3000 9350 3550
353	Wire Wire Line
354	6700 5300 6950 5300
355	Wire Wire Line
356	8650 5950 8300 5950
357	Wire Wire Line
358	7550 5950 7800 5950
359	Wire Wire Line
360	6900 6550 6700 6550
361	Wire Wire Line
362	7800 6550 7550 6550
363	Wire Wire Line
364	7800 6600 7550 6600
365	Wire Wire Line
366	8350 6650 8150 6650
367	Wire Wire Line
368	8150 6700 8350 6700
369	Wire Wire Line
370	9250 6700 9000 6700
371	Wire Wire Line
372	9250 6650 9000 6650
373	Wire Notes Line
374	9350 5700 6150 5700
375	Wire Wire Line
376	2100 6650 2000 6650
377	Wire Wire Line
378	3500 6650 3400 6650
379	Wire Wire Line
380	2900 6650 2700 6650
381	Wire Wire Line
382	3000 6500 2800 6500
383	Wire Wire Line
384	2800 6500 2800 6650
385	Connection ~ 2800 6650
386	Connection ~ 2800 6250
387	Wire Wire Line
388	2800 6250 2800 6100
389	Wire Wire Line
390	2800 6100 3000 6100
391	Wire Wire Line
392	2900 6250 2700 6250
393	Wire Wire Line
394	3500 6250 3400 6250
395	Wire Wire Line
396	2100 6250 2000 6250
397	Wire Wire Line
398	2100 5600 2150 5600
399	Wire Wire Line
400	6650 2600 6850 2600
401	Wire Wire Line
402	7650 2550 7300 2550
403	Wire Wire Line
404	8000 2550 8350 2550
405	Wire Notes Line
406	9350 3000 6150 3000
407	Wire Notes Line
408	6150 3000 6150 3550
409	Wire Notes Line
410	6150 3550 9350 3550
411	Wire Wire Line
412	7100 3350 6850 3350
413	Wire Wire Line
414	7100 3200 6850 3200
415	Wire Wire Line
416	6850 3250 7100 3250
417	Wire Wire Line
418	7100 3150 6850 3150
419	Wire Wire Line
420	7800 6100 7450 6100
421	Wire Wire Line
422	7450 6100 7450 6150
423	Wire Wire Line
424	7450 6150 7400 6150
425	Wire Wire Line
426	6900 6150 6750 6150
427	Wire Notes Line
428	9350 5700 9350 6850
429	Wire Notes Line
430	9350 6850 6150 6850
431	Wire Notes Line
432	6150 6850 6150 5700
433	Wire Wire Line
434	7100 3300 6850 3300
435	Wire Wire Line
436	8250 4000 8000 4000
437	Wire Wire Line
438	8000 4050 8400 4050
439	Wire Wire Line
440	9000 4050 8900 4050
441	Wire Wire Line
442	7150 4000 7500 4000
443	Wire Wire Line
444	7100 4050 7500 4050
445	Wire Wire Line
446	7100 4650 7500 4650
447	Wire Wire Line
448	7150 4600 7500 4600
449	Wire Wire Line
450	9000 4650 8900 4650
451	Wire Wire Line
452	8000 4650 8400 4650
453	Wire Wire Line
454	8250 4600 8000 4600
455	Wire Wire Line
456	8250 4500 8000 4500
457	Wire Wire Line
458	8400 4550 8000 4550
459	Wire Wire Line
460	9000 4550 8900 4550
461	Wire Wire Line
462	7150 4500 7500 4500
463	Wire Wire Line
464	7100 4550 7500 4550
465	Wire Wire Line
466	6700 5350 7000 5350
467	Wire Bus Line
468	6450 4550 6600 4550
469	Wire Bus Line
470	6600 4550 6600 4100
471	Wire Wire Line
472	7000 4250 6700 4250
473	Wire Wire Line
474	7000 4350 6700 4350
475	Wire Wire Line
476	5250 1750 4950 1750
477	Wire Wire Line
478	5250 1650 4950 1650
479	Wire Bus Line
480	4700 1950 4850 1950
481	Wire Bus Line
482	4850 1950 4850 1500
483	Wire Wire Line
484	5250 1600 4950 1600
485	Wire Wire Line
486	5250 1700 4950 1700
487	Wire Wire Line
488	3450 4800 3250 4800
489	Wire Wire Line
490	9200 5200 8950 5200
491	Wire Wire Line
492	9150 5300 8950 5300
493	Wire Wire Line
494	8050 5200 7750 5200
495	Wire Wire Line
496	8050 5300 7750 5300
497	Text Notes 7600 5150 0 60 ~ 0
498	TO SIE
499	Text GLabel 9200 5350 2 20 BiDi ~ 0
500	GND
501	Text GLabel 9200 5200 2 20 BiDi ~ 0
502	3.3V
503	Text Label 9150 5300 2 20 ~ 0
504	RX1_FPGA
505	Text Label 9150 5250 2 20 ~ 0
506	TX1_FPGA
507	$Comp
508	L HEADER_4 J21
509	U 1 1 4C98B50D
510	P 8700 5500
511	F 0 "J21" H 8500 5700 60 0000 C CNN
512	F 1 "HEADER_4" H 8700 5500 60 0000 C CNN
513	1 8700 5500
514	1 0 0 -1
515	$EndComp
516	Text Notes 8300 5300 0 20 ~ 0
517	UART FPGA
518	Text Notes 8300 5350 0 20 ~ 0
519	UART FPGA
520	Text Label 8000 5350 2 20 ~ 0
521	RX1_FPGA
522	Text Label 8000 5300 2 20 ~ 0
523	TX1_FPGA
524	$Comp
525	L HEADER_4 J17
526	U 1 1 4C98B248
527	P 7500 5500
528	F 0 "J17" H 7300 5700 60 0000 C CNN
529	F 1 "HEADER_4" H 7500 5500 60 0000 C CNN
530	1 7500 5500
531	1 0 0 -1
532	$EndComp
533	Text GLabel 9100 1900 2 20 BiDi ~ 0
534	VSERVOS
535	Text Label 3300 4750 0 20 ~ 0
536	3.3V
537	Text Label 3300 4700 0 20 ~ 0
538	5V
539	Text Label 3300 4650 0 20 ~ 0
540	VMOTOR
541	Text Label 3300 4600 0 20 ~ 0
542	VMAIN
543	Text Notes 8150 5850 0 60 ~ 0
544	TO IR LEDS, PHOTODIODES
545	Text Notes 7850 4400 0 60 ~ 0
546	TO ENCODER right wheel
547	Text Notes 7850 3800 0 60 ~ 0
548	TO ENCODER left wheel
549	Text Notes 6700 3100 0 60 ~ 0
550	TO GPS RS-232
551	Text Notes 8650 2500 0 60 ~ 0
552	TO SERVOS 3,4
553	Text Notes 7150 2500 0 60 ~ 0
554	TO SERVOS 1,2
555	Text Notes 8550 1800 0 20 ~ 0
556	FROM ANOTHER BATTERY (LIPO OR WHATEVER)\nVoltage limits depends on the servo; usuallly 5-6V
557	Text Notes 7550 1800 0 20 ~ 0
558	FROM ANOTHER BATTERY (LIPO OR WHATEVER)\nh-bridge supports from 2.0 - 6.8 Volts
559	Text Notes 6600 1800 0 20 ~ 0
560	FROM BATTERY (LIPO OR WHATEVER)\nideal: 3.7V input
561	Text Notes 8250 1250 0 60 ~ 0
562	RIGHT MOTOR CONN
563	Text Notes 6750 1250 0 60 ~ 0
564	LEFT MOTOR CONN
565	Text Notes 2050 3150 0 20 ~ 0
566	Pin 13 is the same of input button SW2
567	Text Notes 2050 3100 0 20 ~ 0
568	Pin 12 is the same of input button SW1
569	Text Notes 2250 6000 0 60 ~ 0
570	DIGITAL INPUT BUTTONS
571	Text Notes 1850 5400 0 60 ~ 0
572	POWER LED
573	Text Notes 2500 3550 0 60 ~ 0
574	ALL ANALOG PINS (0 ... 7)
575	Text Notes 2500 2950 0 60 ~ 0
576	FREE DIGITAL PINS (12 ... 23)
577	Text Notes 4700 1450 0 60 ~ 0
578	FROM ENCODER SIGNALS
579	Text Notes 3000 1450 0 60 ~ 0
580	TO H-BRIDGE CONTROL PINS
581	Text GLabel 5250 1600 2 20 BiDi ~ 0
582	DIG11
583	Text GLabel 5250 1750 2 20 BiDi ~ 0
584	DIG12
585	Text GLabel 5250 1700 2 20 BiDi ~ 0
586	DIG13
587	Text Label 5000 1650 0 20 ~ 0
588	ENC_SIGNAL_2
589	Text Label 5000 1700 0 20 ~ 0
590	ENC_SIGNAL_3
591	Text Label 5000 1750 0 20 ~ 0
592	ENC_SIGNAL_4
593	Text Label 5000 1600 0 20 ~ 0
594	ENC_SIGNAL_1
595	Entry Wire Line
596	4850 1550 4950 1650
597	Entry Wire Line
598	4850 1650 4950 1750
599	Entry Wire Line
600	4850 1600 4950 1700
601	Entry Wire Line
602	4850 1500 4950 1600
603	Text HLabel 4700 1950 0 20 BiDi ~ 0
604	ENC_SIGNALS[0..3]
605	Text GLabel 5250 1650 2 20 BiDi ~ 0
606	DIG10
607	Text Label 6700 4350 0 20 ~ 0
608	RIGHT_ENCODER_2
609	Text Label 6700 4300 0 20 ~ 0
610	RIGHT_ENCODER_1
611	Text Label 6700 4250 0 20 ~ 0
612	LEFT_ENCODER_2
613	Text Label 6700 4200 0 20 ~ 0
614	LEFT_ENCODER_1
615	Text GLabel 7000 4350 2 20 BiDi ~ 0
616	RIGHT_ENCODER_2
617	Text GLabel 7000 4300 2 20 BiDi ~ 0
618	RIGHT_ENCODER_1
619	Text GLabel 7000 4250 2 20 BiDi ~ 0
620	LEFT_ENCODER_2
621	Entry Wire Line
622	6600 4150 6700 4250
623	Entry Wire Line
624	6600 4250 6700 4350
625	Entry Wire Line
626	6600 4200 6700 4300
627	Entry Wire Line
628	6600 4100 6700 4200
629	Text HLabel 6450 4550 0 20 BiDi ~ 0
630	ENC[0..3]
631	Text GLabel 7000 4200 2 20 BiDi ~ 0
632	LEFT_ENCODER_1
633	Text Notes 6550 5150 0 60 ~ 0
634	TO I2C DEVICE
635	Text Notes 8800 5150 0 20 ~ 0
636	TO ANOTHER DEVICE
637	$Comp
638	L HEADER_4X2 J15
639	U 1 1 4C96AA49
640	P 7700 4800
641	F 0 "J15" H 7600 5300 60 0000 C CNN
642	F 1 "HEADER_4X2" H 7700 4800 40 0000 C CNN
643	1 7700 4800
644	-1 0 0 -1
645	$EndComp
646	Text GLabel 8250 4500 2 20 BiDi ~ 0
647	3.3V
648	Text GLabel 8250 4600 2 20 BiDi ~ 0
649	3.3V
650	Text GLabel 7100 4550 0 20 BiDi ~ 0
651	3.3V
652	Text GLabel 7100 4650 0 20 BiDi ~ 0
653	3.3V
654	$Comp
655	L R R8
656	U 1 1 4C96AA48
657	P 8650 4550
658	F 0 "R8" V 8730 4550 50 0000 C CNN
659	F 1 "150" V 8650 4550 50 0000 C CNN
660	1 8650 4550
661	0 -1 -1 0
662	$EndComp
663	$Comp
664	L R R9
665	U 1 1 4C96AA47
666	P 8650 4650
667	F 0 "R9" V 8730 4650 50 0000 C CNN
668	F 1 "150" V 8650 4650 50 0000 C CNN
669	1 8650 4650
670	0 1 1 0
671	$EndComp
672	Text GLabel 9000 4550 2 20 BiDi ~ 0
673	GND
674	Text GLabel 9000 4650 2 20 BiDi ~ 0
675	GND
676	Text Label 7150 4500 0 20 ~ 0
677	RIGHT_ENCODER_1
678	Text Label 7150 4600 0 20 ~ 0
679	RIGHT_ENCODER_2
680	Text Label 7150 4000 0 20 ~ 0
681	LEFT_ENCODER_2
682	Text Label 7150 3900 0 20 ~ 0
683	LEFT_ENCODER_1
684	Text GLabel 9000 4050 2 20 BiDi ~ 0
685	GND
686	Text GLabel 9000 3950 2 20 BiDi ~ 0
687	GND
688	$Comp
689	L R R7
690	U 1 1 4C96A99C
691	P 8650 4050
692	F 0 "R7" V 8730 4050 50 0000 C CNN
693	F 1 "150" V 8650 4050 50 0000 C CNN
694	1 8650 4050
695	0 1 1 0
696	$EndComp
697	$Comp
698	L R R6
699	U 1 1 4C96A993
700	P 8650 3950
701	F 0 "R6" V 8730 3950 50 0000 C CNN
702	F 1 "150" V 8650 3950 50 0000 C CNN
703	1 8650 3950
704	0 -1 -1 0
705	$EndComp
706	Text GLabel 7100 4050 0 20 BiDi ~ 0
707	3.3V
708	Text GLabel 7100 3950 0 20 BiDi ~ 0
709	3.3V
710	Text GLabel 8250 4000 2 20 BiDi ~ 0
711	3.3V
712	Text GLabel 8250 3900 2 20 BiDi ~ 0
713	3.3V
714	$Comp
715	L HEADER_4X2 J14
716	U 1 1 4C96A8DC
717	P 7700 4200
718	F 0 "J14" H 7600 4700 60 0000 C CNN
719	F 1 "HEADER_4X2" H 7700 4200 40 0000 C CNN
720	1 7700 4200
721	-1 0 0 -1
722	$EndComp
723	Text GLabel 7100 3200 2 20 BiDi ~ 0
724	3.3V
725	$Comp
726	L HEADER_5 J9
727	U 1 1 4C96A85D
728	P 6600 3250
729	F 0 "J9" H 6400 3250 60 0000 C CNN
730	F 1 "HEADER_5" H 6600 3000 60 0000 C CNN
731	1 6600 3250
732	1 0 0 -1
733	$EndComp
734	Text Notes 9400 4200 0 60 ~ 0
735	ENCODERS
736	Text GLabel 6750 6150 0 20 BiDi ~ 0
737	GND
738	Text GLabel 6750 5950 0 20 BiDi ~ 0
739	GND
740	$Comp
741	L R R5
742	U 1 1 4C91659B
743	P 7150 6150
744	F 0 "R5" V 7230 6150 50 0000 C CNN
745	F 1 "1K" V 7150 6150 50 0000 C CNN
746	1 7150 6150
747	0 1 1 0
748	$EndComp
749	$Comp
750	L R R4
751	U 1 1 4C916588
752	P 7150 5950
753	F 0 "R4" V 7230 5950 50 0000 C CNN
754	F 1 "1K" V 7150 5950 50 0000 C CNN
755	1 7150 5950
756	0 1 1 0
757	$EndComp
758	Text GLabel 7100 3350 2 20 BiDi ~ 0
759	GND
760	Text Label 7100 3300 2 20 ~ 0
761	RX1_JZ4725
762	Text Label 7100 3250 2 20 ~ 0
763	TX1_JZ4725
764	Text GLabel 7100 3150 2 20 BiDi ~ 0
765	5V
766	Text GLabel 8650 6050 2 20 BiDi ~ 0
767	5V
768	Text GLabel 8650 6100 2 20 BiDi ~ 0
769	5V
770	Text Label 7550 6050 0 20 ~ 0
771	GNDIR_LED_0
772	Text Label 7550 6100 0 20 ~ 0
773	GNDIR_LED_1
774	Text HLabel 8850 2100 2 20 BiDi ~ 0
775	GND
776	$Comp
777	L HEADER_2 J19
778	U 1 1 4C7596E6
779	P 8400 2150
780	F 0 "J19" H 8150 2350 60 0000 C CNN
781	F 1 "HEADER_2" H 8400 2150 60 0000 C CNN
782	1 8400 2150
783	1 0 0 -1
784	$EndComp
785	Text Label 9050 1900 2 20 ~ 0
786	VSERVOS
787	Text GLabel 8850 2000 2 20 BiDi ~ 0
788	GND
789	$Comp
790	L HEADER_3X2 J20
791	U 1 1 4C7593B3
792	P 8550 2600
793	F 0 "J20" H 8400 2750 60 0000 C CNN
794	F 1 "HEADER_3X2" H 8600 2400 60 0000 C CNN
795	1 8550 2600
796	1 0 0 -1
797	$EndComp
798	$Comp
799	L HEADER_3X2 J11
800	U 1 1 4C75936B
801	P 7050 2600
802	F 0 "J11" H 6900 2750 60 0000 C CNN
803	F 1 "HEADER_3X2" H 7100 2400 60 0000 C CNN
804	1 7050 2600
805	1 0 0 -1
806	$EndComp
807	$Comp
808	L HEADER_4 J5
809	U 1 1 4C753CB1
810	P 3050 4000
811	F 0 "J5" H 2850 4200 60 0000 C CNN
812	F 1 "HEADER_4" H 3050 4000 60 0000 C CNN
813	1 3050 4000
814	1 0 0 -1
815	$EndComp
816	$Comp
817	L HEADER_4 J2
818	U 1 1 4C753CAD
819	P 1550 4000
820	F 0 "J2" H 1350 4200 60 0000 C CNN
821	F 1 "HEADER_4" H 1550 4000 60 0000 C CNN
822	1 1550 4000
823	1 0 0 -1
824	$EndComp
825	$Comp
826	L HEADER_4 J6
827	U 1 1 4C753C2F
828	P 4500 3400
829	F 0 "J6" H 4300 3600 60 0000 C CNN
830	F 1 "HEADER_4" H 4500 3400 60 0000 C CNN
831	1 4500 3400
832	1 0 0 -1
833	$EndComp
834	$Comp
835	L HEADER_4 J4
836	U 1 1 4C753C2B
837	P 3000 3400
838	F 0 "J4" H 2800 3600 60 0000 C CNN
839	F 1 "HEADER_4" H 3000 3400 60 0000 C CNN
840	1 3000 3400
841	1 0 0 -1
842	$EndComp
843	$Comp
844	L HEADER_4 J1
845	U 1 1 4C753B87
846	P 1550 3400
847	F 0 "J1" H 1350 3600 60 0000 C CNN
848	F 1 "HEADER_4" H 1550 3400 60 0000 C CNN
849	1 1550 3400
850	1 0 0 -1
851	$EndComp
852	$Comp
853	L HEADER_2 J8
854	U 1 1 4C75378C
855	P 6600 1550
856	F 0 "J8" H 6350 1750 60 0000 C CNN
857	F 1 "HEADER_2" H 6600 1550 60 0000 C CNN
858	1 6600 1550
859	1 0 0 -1
860	$EndComp
861	$Comp
862	L HEADER_2 J16
863	U 1 1 4C753787
864	P 8100 1550
865	F 0 "J16" H 7850 1750 60 0000 C CNN
866	F 1 "HEADER_2" H 8100 1550 60 0000 C CNN
867	1 8100 1550
868	1 0 0 -1
869	$EndComp
870	Text GLabel 2650 5600 2 20 BiDi ~ 0
871	GND
872	$Comp
873	L R R1
874	U 1 1 4C7404B5
875	P 1850 5600
876	F 0 "R1" V 1930 5600 50 0000 C CNN
877	F 1 "330" V 1850 5600 50 0000 C CNN
878	1 1850 5600
879	0 1 1 0
880	$EndComp
881	Text GLabel 1550 5600 0 20 BiDi ~ 0
882	5V
883	$Comp
884	L LED D1
885	U 1 1 4C7404A1
886	P 2350 5600
887	F 0 "D1" H 2350 5700 50 0000 C CNN
888	F 1 "LED" H 2350 5500 50 0000 C CNN
889	1 2350 5600
890	1 0 0 -1
891	$EndComp
892	$Comp
893	L SW_PUSH SW1
894	U 1 1 4C740223
895	P 2400 6250
896	F 0 "SW1" H 2550 6360 50 0000 C CNN
897	F 1 "SW_PUSH" H 2400 6170 50 0000 C CNN
898	1 2400 6250
899	1 0 0 -1
900	$EndComp
901	Text GLabel 2000 6250 0 20 BiDi ~ 0
902	GND
903	$Comp
904	L R R2
905	U 1 1 4C740222
906	P 3150 6250
907	F 0 "R2" V 3230 6250 50 0000 C CNN
908	F 1 "4.7K" V 3150 6250 50 0000 C CNN
909	1 3150 6250
910	0 1 1 0
911	$EndComp
912	Text GLabel 3500 6250 2 20 BiDi ~ 0
913	3.3V
914	Text Label 3000 6100 2 20 ~ 0
915	DIG6
916	Text Label 3000 6500 2 20 ~ 0
917	DIG7
918	Text GLabel 3500 6650 2 20 BiDi ~ 0
919	3.3V
920	$Comp
921	L R R3
922	U 1 1 4C740221
923	P 3150 6650
924	F 0 "R3" V 3230 6650 50 0000 C CNN
925	F 1 "4.7K" V 3150 6650 50 0000 C CNN
926	1 3150 6650
927	0 1 1 0
928	$EndComp
929	Text GLabel 2000 6650 0 20 BiDi ~ 0
930	GND
931	$Comp
932	L SW_PUSH SW2
933	U 1 1 4C740220
934	P 2400 6650
935	F 0 "SW2" H 2550 6760 50 0000 C CNN
936	F 1 "SW_PUSH" H 2400 6570 50 0000 C CNN
937	1 2400 6650
938	1 0 0 -1
939	$EndComp
940	Text Notes 9450 6150 0 60 ~ 0
941	IR ANALOG
942	Text GLabel 8150 6700 0 20 BiDi ~ 0
943	ANALOG1
944	Text GLabel 8150 6650 0 20 BiDi ~ 0
945	ANALOG0
946	Text GLabel 9000 6700 0 20 BiDi ~ 0
947	IRANODE1
948	Text GLabel 9000 6650 0 20 BiDi ~ 0
949	IRANODE0
950	Text Label 9250 6650 2 20 ~ 0
951	IRANODE0
952	Text Label 9250 6700 2 20 ~ 0
953	IRANODE1
954	Text Label 8350 6650 2 20 ~ 0
955	ANALOG0
956	Text Label 8350 6700 2 20 ~ 0
957	ANALOG1
958	Text Label 7800 6600 2 20 ~ 0
959	IRANODE1
960	Text Label 7800 6550 2 20 ~ 0
961	IRANODE0
962	Entry Wire Line
963	7450 6450 7550 6550
964	Entry Wire Line
965	7450 6500 7550 6600
966	Text HLabel 7350 6750 0 20 BiDi ~ 0
967	IRANODE[0..1]
968	Text Label 6900 6600 2 20 ~ 0
969	ANALOG1
970	Text Label 6900 6550 2 20 ~ 0
971	ANALOG0
972	Text HLabel 6500 6750 0 20 BiDi ~ 0
973	ANALOG[0..1]
974	Entry Wire Line
975	6600 6500 6700 6600
976	Entry Wire Line
977	6600 6450 6700 6550
978	Text Label 7550 6000 0 20 ~ 0
979	IRANODE1
980	Text Label 7550 5950 0 20 ~ 0
981	IRANODE0
982	Text GLabel 8650 6000 2 20 BiDi ~ 0
983	3.3V
984	Text GLabel 8650 5950 2 20 BiDi ~ 0
985	3.3V
986	$Comp
987	L HEADER_4X2 J18
988	U 1 1 4C73D7C1
989	P 8100 6250
990	F 0 "J18" H 8000 6750 60 0000 C CNN
991	F 1 "HEADER_4X2" H 8100 6250 40 0000 C CNN
992	1 8100 6250
993	1 0 0 -1
994	$EndComp
995	Text Notes 9450 5300 0 60 ~ 0
996	I2C_JZ4725
997	Text Label 8000 5250 2 20 ~ 0
998	JZ4725_SCK
999	Text Label 8000 5200 2 20 ~ 0
1000	JZ4725_SDA
1001	Text Notes 8500 3300 0 60 ~ 0
1002	SIE 5V SUPPLY
1003	Text Label 6950 5300 2 20 ~ 0
1004	JZ4725_SCK
1005	Text Label 6950 5250 2 20 ~ 0
1006	JZ4725_SDA
1007	Text GLabel 8100 2650 0 20 BiDi ~ 0
1008	GND
1009	Text GLabel 9050 2650 2 20 BiDi ~ 0
1010	GND
1011	Text GLabel 8250 3300 2 20 BiDi ~ 0
1012	5V
1013	Text GLabel 6600 2650 0 20 BiDi ~ 0
1014	GND
1015	Text GLabel 7000 5350 2 20 BiDi ~ 0
1016	GND
1017	Text GLabel 7000 5200 2 20 BiDi ~ 0
1018	3.3V
1019	$Comp
1020	L HEADER_4 J10
1021	U 1 1 4C72762C
1022	P 6450 5500
1023	F 0 "J10" H 6250 5700 60 0000 C CNN
1024	F 1 "HEADER_4" H 6450 5500 60 0000 C CNN
1025	1 6450 5500
1026	1 0 0 -1
1027	$EndComp
1028	$Comp
1029	L HEADER_4 J13
1030	U 1 1 4C71CE1F
1031	P 7750 3450
1032	F 0 "J13" H 7550 3650 60 0000 C CNN
1033	F 1 "HEADER_4" H 7750 3450 60 0000 C CNN
1034	1 7750 3450
1035	1 0 0 -1
1036	$EndComp
1037	Text Label 8250 3200 2 20 ~ 0
1038	TX1_JZ4725
1039	Text Label 8250 3250 2 20 ~ 0
1040	RX1_JZ4725
1041	Text GLabel 8250 3150 2 20 BiDi ~ 0
1042	3.3V
1043	Text Notes 9400 3250 0 60 ~ 0
1044	UART (GPS/ultrasonic)\nSUPPLY TO SIE (5V)
1045	Text Notes 9400 2650 0 60 ~ 0
1046	SERVOS
1047	Text Notes 9400 2000 0 60 ~ 0
1048	SUPPLY
1049	Text Notes 9400 1400 0 60 ~ 0
1050	MOTOR OUTPUTS
1051	Text GLabel 7550 2650 2 20 BiDi ~ 0
1052	GND
1053	Text Label 6500 2550 0 20 ~ 0
1054	DIG4
1055	Text Label 7650 2550 2 20 ~ 0
1056	DIG5
1057	Text Label 8000 2550 0 20 ~ 0
1058	DIG2
1059	Text Label 9150 2550 2 20 ~ 0
1060	DIG3
1061	Text Label 9050 2550 2 20 ~ 0
1062	SERVO_D
1063	Text Label 8100 2550 0 20 ~ 0
1064	SERVO_C
1065	Text Label 7500 2550 2 20 ~ 0
1066	SERVO_B
1067	Text Label 8100 2600 0 20 ~ 0
1068	VSERVOS
1069	Text Label 7500 2600 2 20 ~ 0
1070	VSERVOS
1071	Text Label 9050 2600 2 20 ~ 0
1072	VSERVOS
1073	Text Label 6650 2550 0 20 ~ 0
1074	SERVO_A
1075	Text Label 6650 2600 0 20 ~ 0
1076	VSERVOS
1077	Text GLabel 3250 4600 0 20 BiDi ~ 0
1078	VMAIN
1079	Text HLabel 3450 4600 2 20 BiDi ~ 0
1080	VMAIN
1081	Text GLabel 7850 2000 2 20 BiDi ~ 0
1082	GND
1083	Text Label 7850 1900 0 20 ~ 0
1084	VMOTOR
1085	$Comp
1086	L HEADER_2 J12
1087	U 1 1 4C703269
1088	P 7400 2150
1089	F 0 "J12" H 7150 2350 60 0000 C CNN
1090	F 1 "HEADER_2" H 7400 2150 60 0000 C CNN
1091	1 7400 2150
1092	1 0 0 -1
1093	$EndComp
1094	Text HLabel 7850 2100 2 20 BiDi ~ 0
1095	GND
1096	Text HLabel 8100 1900 2 20 BiDi ~ 0
1097	VMOTOR
1098	Text GLabel 3800 1700 2 20 BiDi ~ 0
1099	MOTR_A_IN
1100	Text GLabel 3800 1750 2 20 BiDi ~ 0
1101	MOTR_B_IN
1102	Text GLabel 3800 1650 2 20 BiDi ~ 0
1103	MOTL_B_IN
1104	Text GLabel 3800 1600 2 20 BiDi ~ 0
1105	MOTL_A_IN
1106	Text HLabel 3450 4650 2 20 BiDi ~ 0
1107	VMOTOR
1108	Text GLabel 3250 4650 0 20 BiDi ~ 0
1109	VMOTOR
1110	Text GLabel 3250 4700 0 20 BiDi ~ 0
1111	5V
1112	Text HLabel 3450 4700 2 20 BiDi ~ 0
1113	5V
1114	Text HLabel 3250 1950 0 20 BiDi ~ 0
1115	DIG[0..3]
1116	Entry Wire Line
1117	3400 1500 3500 1600
1118	Entry Wire Line
1119	3400 1600 3500 1700
1120	Entry Wire Line
1121	3400 1650 3500 1750
1122	Entry Wire Line
1123	3400 1550 3500 1650
1124	Text GLabel 3250 4800 0 20 BiDi ~ 0
1125	GND
1126	Text HLabel 3450 4800 2 20 BiDi ~ 0
1127	GND
1128	Text HLabel 3450 4750 2 20 BiDi ~ 0
1129	3.3V
1130	Text GLabel 3250 4750 0 20 BiDi ~ 0
1131	3.3V
1132	Text HLabel 7150 1900 2 20 BiDi ~ 0
1133	VMAIN
1134	Text HLabel 6900 2100 2 20 BiDi ~ 0
1135	GND
1136	Text HLabel 8950 1400 2 20 BiDi ~ 0
1137	MOTR_B
1138	Text HLabel 8950 1300 2 20 BiDi ~ 0
1139	MOTR_A
1140	Text HLabel 7450 1400 2 20 BiDi ~ 0
1141	MOTL_B
1142	Text HLabel 7450 1300 2 20 BiDi ~ 0
1143	MOTL_A
1144	Text Label 3550 1750 0 20 ~ 0
1145	DIG14
1146	Text Label 3550 1700 0 20 ~ 0
1147	DIG15
1148	Text Label 3550 1650 0 20 ~ 0
1149	DIG1
1150	Text Label 3550 1600 0 20 ~ 0
1151	DIG0
1152	Text GLabel 2350 2050 2 20 BiDi ~ 0
1153	GND
1154	Text GLabel 1550 1450 0 20 BiDi ~ 0
1155	GND
1156	Text GLabel 2350 2100 2 20 BiDi ~ 0
1157	3.3V
1158	Text GLabel 2350 2150 2 20 BiDi ~ 0
1159	3.3V
1160	Text GLabel 1550 2100 0 20 BiDi ~ 0
1161	3.3V
1162	Text GLabel 1550 2150 0 20 BiDi ~ 0
1163	3.3V
1164	Text Label 2450 1450 2 20 ~ 0
1165	DIG13
1166	Text Label 2450 1500 2 20 ~ 0
1167	DIG11
1168	Text Label 2450 1550 2 20 ~ 0
1169	DIG9
1170	Text Label 2450 1600 2 20 ~ 0
1171	DIG7
1172	Text Label 2450 1650 2 20 ~ 0
1173	DIG5
1174	Text Label 2450 1700 2 20 ~ 0
1175	DIG3
1176	Text Label 2450 1750 2 20 ~ 0
1177	DIG1
1178	Text Label 2450 1800 2 20 ~ 0
1179	DIG14
1180	Text Label 2450 1850 2 20 ~ 0
1181	DIG16
1182	Text Label 2450 1950 2 20 ~ 0
1183	DIG20
1184	Text Label 2450 2000 2 20 ~ 0
1185	DIG22
1186	Text Label 2450 1900 2 20 ~ 0
1187	DIG18
1188	Text Label 2500 2200 2 20 ~ 0
1189	ANALOG7
1190	Text Label 2500 2250 2 20 ~ 0
1191	ANALOG5
1192	Text Label 2500 2300 2 20 ~ 0
1193	ANALOG3
1194	Text Label 2500 2350 2 20 ~ 0
1195	ANALOG1
1196	Text Label 2500 2400 2 20 ~ 0
1197	AN_GND
1198	Text Label 1400 2400 0 20 ~ 0
1199	AN_GND
1200	Text Label 1400 2350 0 20 ~ 0
1201	ANALOG0
1202	Text Label 1400 2300 0 20 ~ 0
1203	ANALOG2
1204	Text Label 1400 2250 0 20 ~ 0
1205	ANALOG4
1206	Text Label 1400 2200 0 20 ~ 0
1207	ANALOG6
1208	Text Label 1450 2050 0 20 ~ 0
1209	DIG23
1210	Text Label 1450 2000 0 20 ~ 0
1211	DIG21
1212	Text Label 1450 1950 0 20 ~ 0
1213	DIG19
1214	Text Label 1450 1900 0 20 ~ 0
1215	DIG17
1216	Text Label 1450 1850 0 20 ~ 0
1217	DIG15
1218	Text Label 1450 1800 0 20 ~ 0
1219	DIG0
1220	Text Label 1450 1750 0 20 ~ 0
1221	DIG2
1222	Text Label 1450 1700 0 20 ~ 0
1223	DIG4
1224	Text Label 1450 1650 0 20 ~ 0
1225	DIG6
1226	Text Label 1450 1600 0 20 ~ 0
1227	DIG8
1228	Text Label 1450 1550 0 20 ~ 0
1229	DIG10
1230	Text Label 1450 1500 0 20 ~ 0
1231	DIG12
1232	Text Label 2000 3100 2 20 ~ 0
1233	DIG9
1234	Text Label 2000 3250 2 20 ~ 0
1235	DIG6
1236	Text Label 4950 3100 2 20 ~ 0
1237	DIG17
1238	Text Label 4950 3150 2 20 ~ 0
1239	DIG19
1240	Text Label 4950 3200 2 20 ~ 0
1241	DIG21
1242	Text Label 4950 3250 2 20 ~ 0
1243	DIG23
1244	Text Label 2050 3850 2 20 ~ 0
1245	ANALOG6
1246	Text Label 2050 3800 2 20 ~ 0
1247	ANALOG4
1248	Text Label 2050 3750 2 20 ~ 0
1249	ANALOG2
1250	Text Label 2050 3700 2 20 ~ 0
1251	ANALOG0
1252	Text Label 3550 3700 2 20 ~ 0
1253	ANALOG1
1254	Text Label 3550 3750 2 20 ~ 0
1255	ANALOG3
1256	Text Label 3550 3800 2 20 ~ 0
1257	ANALOG5
1258	Text Label 3550 3850 2 20 ~ 0
1259	ANALOG7
1260	Text Label 3450 3250 2 20 ~ 0
1261	DIG22
1262	Text Label 3450 3200 2 20 ~ 0
1263	DIG20
1264	Text Label 3450 3150 2 20 ~ 0
1265	DIG18
1266	Text Label 3450 3100 2 20 ~ 0
1267	DIG16
1268	Text Label 2000 3200 2 20 ~ 0
1269	DIG7
1270	Text Label 2000 3150 2 20 ~ 0
1271	DIG8
1272	$Comp
1273	L HEADER_20X2 J3
1274	U 1 1 4C5F3291
1275	P 2000 2550
1276	F 0 "J3" H 1850 3800 60 0000 C CNN
1277	F 1 "HEADER_20X2" H 2000 2550 60 0000 C CNN
1278	1 2000 2550
1279	1 0 0 -1
1280	$EndComp
1281	Text Label 7000 1300 0 20 ~ 0
1282	MOTL_A
1283	Text Label 7000 1400 0 20 ~ 0
1284	MOTL_B
1285	Text Label 8500 1300 0 20 ~ 0
1286	MOTR_A
1287	Text Label 8500 1400 0 20 ~ 0
1288	MOTR_B
1289	$Comp
1290	L HEADER_2 J7
1291	U 1 1 4C5F328F
1292	P 6450 2150
1293	F 0 "J7" H 6200 2350 60 0000 C CNN
1294	F 1 "HEADER_2" H 6450 2150 60 0000 C CNN
1295	1 6450 2150
1296	1 0 0 -1
1297	$EndComp
1298	Text Label 6900 1900 0 20 ~ 0
1299	VMAIN
1300	Text GLabel 6900 2000 2 20 BiDi ~ 0
1301	GND
1302	$EndSCHEMATC
1303

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