USB Drawn By: Title: Version - GitHub

Right Wheel Motor

VCC

VCC V_USB

F1

GND VBUS DD+

D1

VBUS

14 34 2 24 44

VCC VCC1 UVCC AVCC AVCC1

R2 R1568-6853-2-ND 283-3139-1-ND 22 22 C1

3 4

DD+

6

C4 8pF

17

C8 16

0.1uF

RGB_B

RGB_G

5 15 23 35 43

GND GND VCC

N$40

33 1

PE2 PE6

PC6(OC1A) PC7(ICP3/CLK0/OC4A)

31 32

PC6 N$40

12 30 29 28 11 10 9 8

PB7 PB6 PB5 PB4 MISO MOSI SCK PB0

27 26 22 25 21 20 19 18

PD7 PD6 N$13 PD4 TX RX PD1 PD0

220

R14

220

R5

STATUS LED1

POWER LED2

U2

MISO 1 SCK 3 RST 5

MISO VCC SCK MOSI GND RST

2 4 6

14 11 10

GND N$13

12

13

SER QA QB SCK QC SCL QD QE RCK QF QG QH

15 1 2 3 4 5 6 7

G QH*

9

220

STEP_1_4 STEP_1_3 STEP_1_2 STEP_1_1 STEP_2_4 STEP_2_3 STEP_1_4 STEP_2_2 STEP_2_1

U$2G$2 568-5977-2-ND

GND

455-1749-2-ND 2 V_BATT

IC2 11 10

N$13

12

MOSI 13

GND

SER QA QB SCK QC SCL QD QE RCK QF QG QH G QH*

9

RGB_R RGB_G RGB_B IR_SWITCH STEP_3_4 STEP_3_3 STEP_3_2 STEP_3_1

JP1

R7

C12

C10

0.1uF

10uF

OUT

C5

U$5

R10

22 LED4 1080-1358-2-ND

3M9567TR-ND

3

GND

1*2

VCC

2

PE6

VCC

TSOP75338WTR

LIGHT_LEFT LIGHT_CENTER PF5 LIGHT_RIGHT IR_EDGE_LEFT

GND

Q6 DMN3404LDICT-ND

PD7

1 2 3 4 5 6 7 8

C3

GND

GND

GND

GND

GND VCC_3V3

IO4 IO6 IO IO7 IO5 INH VEE VSS

VDD IO2 IO1 IO0 IO3 A B C

16 15 14 13 12 11 10 9

IR_EDGE_RIGHT IR_LINE_RIGHT IR_LINE_CENTER IR_LINE_LEFT PF4 PF1 PF0

C1

9 11

C17

2 13 4

SCL SDA

1 16

SETP SETC

8 12

C7

DRDY

15

1uF

GND GND

10uF

10k

10

C2

VDD VDDIO S1

10k R9

NC NC NC NC NC

R8

3 5 6 7 14

0.1uF

PD0 PD1

GND

342-1082-2-ND

568-2259-2-ND

GND

GND

GND 1080-1384-1-ND 1080-1384-1-ND1080-1384-1-ND VCC VCC VCC

GND

C13 0.1uF

12 10 5

PD0 PD1

9 VCC_3V3 11VCC_3V3 7 VCC_3V3

MMA8452QR1TR-ND

GND

GND

DMN3404LDICT-ND Q3

0.1uF

4 6

U$4

47k

47k

LIGHT_LEFT LIGHT_CENTERLIGHT_RIGHT

R13

JP3

VCC IR_EDGE_RIGHT IR_LINE_RIGHT IR_LINE_CENTER IR_LINE_LEFT IR_EDGE_LEFT SENSE_GND

47k

P$1 P$2 P$3 P$4 P$5 P$6 P$7

B1

R12

PB6

10k

R24

10k

R23 10uF

C14

SCL VDD VDDIO SDA BYP INT2 INT1 GND GND SA0 GND

Q4 DMN3404LDICT-ND

R19

U$10 14 1 2

GND

1 2 3 4

U$13

U$12 PB7

PB6 PC6

U$3

VCC

Buzzer

VCC

10k PD1

VCC_3V3 C15

N$41

3 2 1

R18

PB5 N$41

Ultrasonic

R11

JP4

VCC_3V3

PD0

Battery Voltage Monitor

47k

Servo

GND

C9

EN BP

10uF 0.1uF

S2

U$6

OUT

VCC_3V3

IN OUT

Q1 DMN3404LDICT-ND

VCC

U$14

U$11

568-6853-2-ND

GND

10uF 0.1uF

401-2002-2-ND 10k GND

U$16G$2 568-5977-2-ND

GND 1028-1014-2-ND D2

IN

GND

IR Receiver

N$41

2 TX 4 RX 6 GND 8 VCC 10 GND 12 CE PF7 14 SCK 16 MISO

STEP_3_4

LM2940IMP-5.0/NOPBTR-NDVCC

1 15 1 2 3 4 5 6 7

455-1752-2-ND

GND

U1

1 PD1 3 PD0 GND 5 VCC 7 VCC_3V3 9 PF6 CSN 11 MOSI 13 PB4 IRQ 15

P$1 P$2 P$3 P$4 U$16G$1 P$5

568-5977-2-ND

U$8G$2 568-5977-2-ND

STEP_2_4

N$41

GND IR Send

U$15G$2 568-5977-2-ND JP8G$2

455-1752-2-ND

568-10093-2-ND

Expansion Breakout JP5

STEP_3_3

568-5977-2-ND

455-1752-2-ND

568-10093-2-ND

GND GND

STEP_3_2

P$1 P$2 P$3 P$4 U$8G$1 P$5

STEP_2_3

568-5977-2-ND

N$41

U$7G$2 568-5977-2-ND JP7G$2

STEP_2_2

P$1 P$2 P$3 P$4 U$2G$1 P$5

STEP_1_3

U$15G$1 568-5977-2-ND

N$41

U$1G$2 568-5977-2-ND JP6G$2

STEP_1_2

3M9388TR-ND

ISP GND

N$41

STEP_3_1

IC1

VCC

GND

LED-A GND PB0 PD6 PD4 GND SCK MOSI VCC_3V3 ZK_CS ZK_SO

VCC

14

Blue

Grn 220

R30

Red

LED3

RGB_R

GND C6 8pF

PE2(HWB) PE6

PB7(OC0A/OC1C/RTS) UCAP PB6(OC1B/OC4B/ADC13) PB5(OC1A/OC4B/ADC12) PB4(ADC11) AREF PB3(PDO/MISO) PB2(PDI/MISO) XTAL1 PB1(SCK) PB0(SS) XTAL2 PD7(OC4D/ADC10/T0) PD6(T1/OC4D/ADC9) PD5(XCK/CTS) UGND PD4(ICP1/ADC8) PD3(INT3/TXD1) GND PD2(INT2/RXD1) GND1 PD1(INT1/SDA) GND2 PD0(INT0/OC0B) GND3

42

1uF

RGB LED

Left Wheel Motor

U$7G$1 568-5977-2-ND

STEP_2_1

DMP2305UDITR-ND Q7

GND GND

USB

GND

7

10 LED-A 9 GND 8 LCD_CS 7 LCD_RST 6 LCD_A0 5 LCD_CLK 4 LCD_SI 3 2 ZK_CS 1 ZK_SO

ATMEGA32U4RC-AURTR-ND 41 PF0 PF0(ADC0) 40 PF1 PF1(ADC1) 39 PF4 PF4(ADC4/TCK) 38 PF5 PF5(ADC5/TMS) 37 PF6 PF6(ADC6/TDO) 36 PF7 PF7(ADC7(TDI)

R3

C16 CKN10361CT-ND 1uF

/RESET

10k

13

RST

10k

3 4

R6

1 2

U$1G$1 568-5977-2-ND

STEP_1_1

JP2

10k

R4

S1

Gripper Motor

VCC

R15

VCC

WM3818TR-ND GND Q5 DMN3404LDICT-ND

IR_SWITCH

GND

GND

GND

GND

Title: Version:

GND

Drawn By:

GND

C11

VCC

ITR8307/L24-ND

ITR8307/L24-NDITR8307/L24/TR8 ITR8307/L24-ND

ITR8307/L24-ND

VCC VCC

VCC VCC

VCC VCC

VCC VCC

VCC VCC

220

R28

220

R20

220

R17

220

R16

220

SENSE_GND

SENSE_GND

SENSE_GND SENSE_GND SENSE_GND

47k

U$20 IR_EDGE_LEFT

R27

47k

R25

47k

R22

47k

U$9 U$18 U$19 IR_LINE_RIGHTIR_LINE_CENTER IR_LINE_LEFT

R21

U$21 IR_EDGE_RIGHT

47k

U$22

IR_EDGE_RIGHT IR_LINE_RIGHT IR_LINE_CENTER IR_LINE_LEFT IR_EDGE_LEFT

R26

P$7 P$6 P$5 P$4 P$3 P$2 P$1

R29

WM3818TR-ND

SENSE_GND

SENSE_GND

Title: Version: Drawn By: