1

COD1
D1

+3.3V

PIPWR0SHORT002

COP11
P11

NoReg-12V

PIPWR0SHORT101

PIPWR0SHORT102

NoReg-12V

+3.3V

COP9
P9

2 PIP1102
4 PIP1104
6 PIP1106

MOSI

+5V

PIP902

PIC4201
PIC4202

PIJ801

PIJ501

PIU1301 Vin

COC42
C42

Vout PIU1303
PIC4301 COC43
C43
GND

PIC4302

PIU1302

22uF

RegPower
GND

+5V

PIR1201

22uF

PIC3901

3PIU1103
IN
COC39
C39

PIC3902

10uF

2
OUT PIU1102
4
TAB PIU1104

PIU1 01

+5V

+5V

1
SDA
3
SCL
PIJ605
5
PIJ607
7
PIJ609 9

2 PIJ602
IR1
4 PIJ604
IR2
6 PIJ606
IR3
8 PIJ608
PIJ6010
10

PIJ601
PIJ603

COC54
C54

PIC5402

10uF

GND

GND

GND

GND

PIC501

COC5
C5

NC

PIC701

PIJ900

GND
1

PIJ901

GND
B

PIC1702
PIC1701

19PIU5019

RESET#

COC17
C17
100nF

COJ13
J13

4 PIJ1304
3 PIJ1303
2 PIJ1302
1 PIJ1301

TXD
RXD
RTS#
CTS#
DTR#
DSR#
DCD#
RI#

15PIU5015
USBDP
16PIU5016
USBDM

PIJ903

NC

PIR901

20PIU5020
VCC5I
4PIU504
VCCIO
17PIU5017
VCC30

2
DP PIJ902

DM

COR9
R9
COU5
U5

PIJ90G1

27
PIU5027 OSCI
28PIU5028
OSCO

GPIO2
AVCC-NC

COC1
C1
1nF

PIC202
PIC201

PIC302
PIC301

COC2
C2
10nF

7PIU507
GND1
18PIU5018
GND2
21PIU5021
GND3
26PIU5026
TEST
25PIU5025
AGND

GND

PIX10

COX1
X1
16MHz
VREF

98PIU3098

AREF

100PIU30100
10PIU3010
31PIU3031
61PIU3061
80PIU3080

AVCC
VCC
VCC
VCC
VCC

COC3
C3
100nF

PIC402
PIC401

COC4
C4

99PIU3099
11PIU3011
32PIU3032
62PIU3062
81PIU3081

GND
GND
GND
GND
GND

1uF

PL7
PL6
SERVO4
SERVO3
SERVO2
SERVO1
PL1
PL0

42
PIU3042
41
PIU3041
40PIU3040
39PIU3039
38PIU3038
37PIU3037
36PIU3036
35PIU3035

PL7
PL6
(OC5C) PL5
(OC5B) PL4
(OC5A) PL3
(T5) PL2
(ICP5) PL1
(ICP4) PL0

ADC15
ADC14
ADC13
ADC12
ADC11
ADC10
ADC9
GP2D12

82PIU3082
83PIU3083
84PIU3084
85PIU3085
86PIU3086
87
PIU3087
88PIU3088
89PIU3089

PK7
PK6
PK5
PK4
PK3
PK2
PK1
PK0

MOTOR2_HALL_B
MOTOR2_HALL_A
MOTOR1_HALL_B
MOTOR1_HALL_A
TXD3
RXD3

79PIU3079
69PIU3069
68PIU3068
67PIU3067
66PIU3066
65PIU3065
64
PIU3064
63PIU3063

PH7
PWM9
MOTOR1_ENABLE
MOTOR2_ENABLE
PH3
MOTOR2_OUTA
TXD2
RXD2

27PIU3027
18
PIU3018
17PIU3017
16PIU3016
15
PIU3015
14
PIU3014
13PIU3013
12PIU3012

+5V

PID160
PID1602

COD16
D16

PIC1301
PIC1302

COC13
C13

GND
COD3
D3

VCC_MOTOR

1
PIU501
5
PIU505
3
PIU503
PIU501111
2
PIU502
9
PIU509
10
PIU5010
PIU5066

PID502

COR10
R10
PIR1001

PIR1002

TX0

1K

COC15
C15
PIC1502

PID602

PIC1501

PID501

COU7
U7
MOTOR1_OUTA
MOTOR1_OUTB
MOTOR2_OUTA
MOTOR2_OUTB

7
PIU707 IN1
9
PIU709 IN2
13
PIU7013 IN3
15
PIU7015
IN4

MOTOR1_ENABLE
MOTOR2_ENABLE

PIU708

RESET

PID702

100nF

PID601

PID802

ISEN A
ISEN B

1
GND
10
GND
11
PIU7011 GND
20
PIU7020 GND

2
19

NC
NC

PID701

COD8

COM1
M1

PID801

MOTOR1_A
MOTOR1_B

6
PIM105 5
PIM104 4
PIM103 3
PIM102 2
PIM101 1
PIM106

+5V

GND

M2
COM2

COC30
C30
+5V

PIU702

PIC3002 PIC3001

PIU7019

100nF

PID902
PID901

3 GND
18

PIU703

PIU7018

PID10 2
COD9
PID10

PID1 02
COD10
PID1 0

MOTOR2_A
MOTOR2_B

PID120
COD11
PID120

PIM206
PIM205
PIM204
PIM203

COD12

MOTOR2_HALL_A
MOTOR2_HALL_B

PIM202
PIM201

D9 to D12

L298P

6
5
4
3
2
1

+5V

Motor2

PIU508

GPIO3
SLEEP#

PIU5014

PIC1 02
COC10
C10

PIC10 1 100nF PIC1 01

COC11
C11
100nF

GND

VCC3I-NC

PIC10 2
COC9
C9
100nF

GND

14
12
PIU5012

GND

FT232RL
GND

C44
COC44
PIC4401

PIC4402

1uF

1uF

+3.3V

PIC4602

PIC4902
PIC4901

+12V

PIC1801

VDD
VDD
VDD
VDD

GND

PIC1802

1uF

PIC4701

3 PIJ1403
2 PIJ1402
1 PIJ1401

4
5
30
29

PIC4702
COR14
R14

470nF
F1
COF1

C23
COC23

PIF101

PIF102PIC2302

F2
COF2
PIF201

C26
COC26
PIF202PIC2602

PIC4802

COC48
C48

Audio In

PIC4801

PIC2301PIR1401

COR16
R16
PIR1601

COR13
R13

PIR1301

20K

PIR1402

20K

PIR1602

R17
COR17
PIR1701

PIC2601

MAX9744

470nF

100pF

GND2
GND2

19
PIU6019 INR
20K 18
PIR1702 PIU6018 FBR

SDA
SCL

GND
+3.3V

24
PIU6024
22
PIU6022
8
PIU608
9
PIU609
13
PIU6013
14
PIU6014

25

PIU6025

23

PC7
PC6
PC5
PC4
PC3
PC2
PC1
PC0

50
PD7 PIU3050
49
PD6 PIU3049
48
PD5 PIU3048
47
PIU3047
PD4
46
PD3 PIU3046
45
PD2 PIU3045
44
PD1 PIU3044
43
PD0 PIU3043

PD7

(ADC15/PCINT23)
(ADC14/PCINT22)
(ADC13/PCINT21)(CLKO/ICP3/INT7) PE7
(ADC12/PCINT20)
(T3/INT6) PE6
(ADC11/PCINT19)
(OC3C/INT5) PE5
(ADC10/PCINT18)
(OC3B/INT4) PE4
(ADC9/PCINT17)
(OC3A/AIN1) PE3
(ADC8/PCINT16)
(XCK0/AIN0) PE2
(TXD0) PE1
PJ7
(RXD0/PCINT8) PE0
PJ6 (PCINT15)
PJ5 (PCINT14)
PF7 (ADC7/TDI)
PJ4 (PCINT13)
PF6 (ADC6/TDO)
PJ3 (PCINT12)
PF5 (ADC5/TMS)
PJ2 (XCK3/PCINT11)
PF4 (ADC4/TCK)
PJ1 (TXD3/PCINT10)
PF3 (ADC3)
PJ0 (RXD3/PCINT9)
PF2 (ADC2)
PF1 (ADC1)
(T4) PH7
PF0 (ADC0)
(OC2B) PH6
(OC4C) PH5
(OC0B) PG5
(OC4B) PH4
(TOSC1) PG4
(OC4A) PH3
(TOSC2) PG3
(XCK2) PH2
PG2 (ALE)
(TXD2) PH1
PG1 (RD)
(RXD2) PH0
PG0 (WR)

9
8
7
6
5
4
PIU304
3
PIU303
2
PIU302
PIU309
PIU308
PIU307
PIU306
PIU305

90

IR3
SDA
SCL
IR2
IR1
PE5
PWM3
PE3
MOTOR1_OUTA
TX0
RX0

PIU3093

92
93
94
PIU3094
95
PIU3095
96
PIU3096
97
PIU3097

ADC7
ADC6
ADC5
ADC4
ADC3
ADC2
ADC1
ADC0

1
29
28
70
PIU3070
52
PIU3052
51
PIU3051

PG5
MOTOR2_OUTB
MOTOR1_OUTB
PG2
PG1
PG0

PIU3090

91
PIU3091
PIU3092

PIU301

PIU3029
PIU3028

COC20
C20

PIU6026

BIAS

PIU6020

EP
44
43
39
35
34

100pF

PIC5301
PIC5302

COC53
C53
330uF

P12
COP12

PIF302PIL101

COC27
C27
PIC2702

COF4
F4

PIC2701

100nF

AUDIO_OUT_L+

PIL102

22uH / 3A

PIC2402
C28
COC28

PIC2802

PIF401

PIC2401

L2
COL2
PIF402PIL201

GND
C24
COC24
220nF

PIL202

PIC2102
PIC2101
PIC2502
PIC2501

COC21
C21

220nF

GND

PIC2902
C29
COC29
220nF

R18
COR18
PIR1801

PIR1802

GND

PIF502
PIL301

PIL302

PIC3202

22uH / 3A

PIC3402
PIF601

PIC3401

COL4
L4
PIF602
PIL401

PIC3201

COC34GND
C34
220nF

PIC3 02

C32
COC32

PIC3 01

220nF

PIC3502

PIC3802

PIR1902

Right

GND
C38
COC38
220nF

R20
COR20
PIR2001

PIR2002

22
GND

R22
COR22
PID202PIR2201

LED2

PIR1901

P13
COP13
AUDIO_OUT_R+
PIP1301 1
AUDIO_OUT_RPIP1302 2

22

PIC3801

PID201

220nF

R19
COR19

220nF

D2
COD2
+12V

C33
COC33

C35
COC35

PIC3501

PIL402

22uH / 3A

1uF

GND GND2

GND

Left

22

PIF501

F6
COF6
C36
COC36

AUDIO_OUT_L-

22

PIC2901

100nF

PIC3601
PIC3602

PIP1202

COR15
R15
PIR1501
PIR1502

L3
COL3

F5
COF5

PIC3102 PIC3101

20

COC22
C22
220nF

220nF

22uH / 3A

PIC2801

COC31
C31

PIP1201 1

PIC2 02
PIC2 01

C25
COC25

100nF

26

SYNCOUT

PIU6027 PIU6015 PIU6012 PIU601 PIU607 PIU60EP PIU604 PIU6043 PIU6039 PIU6035 PIU6034

PIF301

100nF

PIU6041

PIU6040

C51
COC51

L1
COL1

F3
COF3

PIC2002 PIC2001

36
OUTR- PIU6036
37
OUTR- PIU6037
38
BOOTR- PIU6038

NC

27
15
12
11
7

41
42
PIU6042
40

PIC5102
PIC5101

GND

33
BOOTR+ PIU6033
31
OUTR+ PIU6031
32
OUTR+ PIU6032

SYNC

GND
GND
GND
GND
GND

PIU6023

MUTE
SHDN
SDA/VOL
SCLK/PWM
ADDR1
ADDR2

OUTLOUTLBOOTL-

PIC50 2
PIC1902
PIC5201 C52
COC52
C50
C19
COC50
COC19
10uFPIC50 1 10uFPIC1901 100pF
PIC5202 330uF

C49
COC49

U6
COU6
MAX9744

1
BOOL+ PIU601
2
OUTL+ PIU602
3
OUTL+ PIU603

20K PIU6017
17
FBL
16
PIU6016 INL

PIR1302

PGND
PGND
PGND
PGND
PGND
PGND

100pF
J14
COJ14

PVDD
PVDD
PVDD
PVDD

6
10
21
28

PIU60 PIU601 PIU6021 PIU6028 PIU604 PIU605 PIU603 PIU6029

1uF
C18
COC18
GND2

PWM13
PWM12
PWM11
PWM10
MISO
MOSI
SCK
SS

60
PC7 (A15) PIU3060
59
PC6 (A14) PIU3059
58
PC5 (A13) PIU3058
57
PC4 (A12) PIU3057
56
PC3 (A11) PIU3056
55
PC2 (A10) PIU3055
54
PC1 (A9) PIU3054
53
PC0 (A8) PIU3053
(T0)
(T1)
(XCK1)
(ICP1)
(TXD1/INT3)
(RXD1/INT2)
(SDA/INT1)
(SCL/INT0)

+12V

COC46
C46

COC47
C47

26
PB7 PIU3026
25
PB6 PIU3025
24
PB5 PIU3024
23
PB4 PIU3023
22
PB3 PIU3022
21
PB2 PIU3021
20
PIU3020
PB1
19
PIU3019
PB0

PA7
PA6
PA5
PA4
PA3
PA2
PA1
PA0

Atmel1280

Audio Ampli

COC45
C45
PIC4501 PIC4502

PIC4601

71
(AD7) PIU3071
72
(AD6) PIU3072
73
(AD5) PIU3073
74
(AD4) PIU3074
75
(AD3) PIU3075
76
(AD2) PIU3076
77
(AD1) PIU3077
78
(AD0) PIU3078

(OC0A/OC1C/PCINT7)
(OC1B/PCINT6)
(OC2A/PCINT4)
(OC2A/PCINT4)
(MISO/PCINT3)
(MOSI/PCINT2)
(SCK/PCINT1)
(SS/PCINT0)

D5 to D8

COD7

Motor1

PIU701
PIU7010

24
PIU5024

PIC901

GND

MOTOR1_HALL_A
MOTOR1_HALL_B

4
OUT1 PIU704
5
OUT2 PIU705
16
OUT3 PIU7016
17
OUT4 PIU7017

13

PIU5013

COD6

12
VSS PIU7012
6
VS PIU706

8
EN A
14
PIU7014 EN B

100nF

GND

+5V

1K

PIC902
COC8
C8

PIR2302

4.7K

LED2

1mF/25V

PIC802

PIC801

COR23
R23

PID301 PID302
PIR2301

COD5
RX0
PIR902

23
GPIO1 PIU5023
22
GPIO0 PIU5022

GND

USB_DIL

PIC702

22pF

VCC_MOTOR

GND

USB

PIJ90G2
4
PIJ904
VCC

PIX102

PA7
PA6
PA5
PA4
PA3
PA2
PA1
PA0

33PIU3033
XTAL2
34PIU3034
XTAL1

GND

PIC102
PIC101

COJ9
J9

PIC602

COC7
C7

VREF

COC14
C14
1uF

GND

+5V

COC6
C6
PIC601

GND

PIC1401

COU3
U3
30PIU3030
RESET

RESET

22pF

GND
I2C+Expansion Connector

Motors
GND

Atmel1280

47K

PIC502

PIC1402

GND

PIR2102

1K
GND

PIR101

+5V

PIC5401

COR21
R21
PID102PIR2101

LED2
COR1
R1

COJ6
J6

2
3

+5V PID101

PIR102

UnregPower

47K

COU11
U11

+5V

GND

2
PIJ502

47K

GND

COU13
U13

+12V

2
PIJ802

COR12
R12

Header 3

+12V

COJ5
J5

I2C Bus

PIR1202

COR11
R11

PIR1 01

PIP901 1

GP2D12PIP903

ICSP
GND

VCC_MOTOR

COJ8
J8

PIR1 02

+5V

MISO
PIP1101 1
SCK PIP1103
3
RESET
PIP1105 5

Power

COPWR0SHORT1
PWR_SHORT1 +12V

VCC_MOTOR

IR Proximity Sensor

Programing

COPWR0SHORT0
PWR_SHORT0 +12V
PIPWR0SHORT001

VCC_MOTOR

PIR2202

4.7K
GND

Title

Size

Q.board1
Number

Revision

A2

Thecorpora

Date:
File:

02/07/2012
Sheet of
C:\Documents and Settings\..\BaseFB1.1.SchDoc
Drawn By:
8

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