5v

6v

5v

6v
16 8 U2 16 8 U1

5v
2 3 2 3
izq IN1 VSS VS OUT1 mo11 izq IN1 VSS VS OUT1 mo31
7 6 7 6
der IN2 OUT2 mo12 der IN2 OUT2 mo32
1 1
RV1 +11.4V U3 +11.4V U4 EN1 EN1
78L05 78L05
pwm pwm
9 9
EN2 EN2
3 1 3 1 10 11 10 11

81%

GND

GND
sensor VI VO 5v VI VO 6v izq IN3 OUT3 mo21 izq IN3 OUT3 mo41
15 14 15 14

GND

GND
der IN4 OUT4 mo22 der IN4 OUT4 mo42

1k L293D L293D

2
J1
1
7.4V
2
GND

SW5
Bateria
BTN1
J2 J4 J14 Encendido
ARD2 1 1 1
BUTTON
ARDUINO MEGA2560 izq izq SW5
der
2
der
2
SW6
2 R1
3 PULLDOWN
Motor1 Motor3
L293D1
J3 J5
1 1
BTN2
izq izq J15
2 2
der der Apagado
1 BUTTON
SW5
Motor2 Motor4 2
SW6
J6
3 R2
PULLDOWN
1 J9 L293D2
pwm
2 1
ARDUINO

pwm canalA
3 2
Arduino Mega 2560
www.TheEngineeringProjects.com

- +

pwm canalB
4 3
pwm SW5
4
BTN3
PWM
vel+
Encoder BUTTON
ON

R3
PULLDOWN
TM
SW5

CONVERSOR DC 5V CONVERSOR DC 6V
+7.4V +7.4V BTN4
J7 J8
vel-
1 1 BUTTON
SW5 SW6
RESET 2 2
AREF FB5 FB6
3 3 R4
VCC 13 4 4 PULLDOWN
PB7/OC0A/OC1C/PCINT7
GND 12
PB6/OC1B/PCINT6 izq
11
A0 PB5/OC1A/PCINT5 der
PF0/ADC0 10
A1 PB4/OC2A/PCINT4 pwm
PF1/ADC1 9
ATMEGA2560

sensor A2 PH6/OC2B canalA

PF2/ADC2 8
16AU 1126

A3 PH5/OC4C canalB
PWM

PF3/ADC3
A7
PF7/ADC7/TDI 7
A6 PH4/OC4B RS
ANALOG IN

PF6/ADC6/TDO 6
A5 PH3/OC4A RW
PF5/ADC5/TMS 5
A4 PE3/OC3A/AIN1 E J10 J12 J13
PF4/ADC4/TCK 4
PG5/OC0B D4 J11
3 1 1 1
A8 PE5/OC3C/INT5 D5 D4 RS
PK0/ADC8/PCINT16 2 2 2 2 1
A9 PE4/OC3B/INT4 D6 D5 SW5 SW5
PK1/ADC9/PCINT17 1 3 3 3 2
A10 TX0 PE1/TXD0/PDO D7 D6 E
PK2/ADC10/PCINT18 0 4 3
A11 RX0PE0/RXD0/PCINT8 D7 sensor
COMUNICATION

PK3/ADC11/PCINT19 LCD2 LCD3

A12
PK4/ADC12/PCINT20 14 LCD1 MyoWare
A13 TX3 PJ1/TXD3/PCINT10 Encendido
PK5/ADC13/PCINT21 15
Reset BTN

A14 RX3 PJ0/RXD3/PCINT9 Apagado

PK6/ADC14/PCINT22 16
A15 TX2 PH1/TXD2 vel+
PK7/ADC15/PCINT23 17
RX2 PH0/RXD2 vel-
18
TX1 PD3/TXD1/INT3
19
RX1 PD2/RXD1/INT2
20
SDA PD1/SDA/INT1
21
SCL PD0/SCL/INT0
DIGITAL
PB2/MOSI/PCINT2
PB3/MISO/PCINT3
PB1/SCK/PCINT1
PB0/SS/PCINT0

PL5/OC5C
PL3/OC5A
PL4/OC5B
PL0/ICP4
PL1/ICP5

PG2/ALE

PA7/AD7
PA6/AD6
PA5/AD5
PA4/AD4
PA3/AD3
PA2/AD2
PA1/AD1
PA0/AD0
PC2/A10

PC4/A12
PC5/A13
PC6/A14
PC7/A15
PG0/WR

PC3/A11
PG1/RD

PC0/A8
PC1/A9
PD7/T0
PL2/T5

PL6
PL7
53
52
51
50
49
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22