MISO

RST

INPUT

OUT

GND

+

+

Mikrokontroler

Zasilanie

Zlacze ISP programatora

MiniSumo

WObit

BAT_SENSE = V *G
G = R27/(R26+R27) = 0.248

Zlacze modulu radiowego

MX-6410-02A

LIN- czujniki lini
L- lewy, P -prawy
F- przedni, B - tylni

MAOR-12v2

LEDy

MOSTKI NAPED

Pomiar napiecia baterii

Zworki wyboru procesora :
4-6, 3-5 - ATmega32
2-4, 1-3 - ATmega8 (Sonar)

MOBOT-RCRv2

Odbiornik podczerwieni RC5

Zlacza rozszerzen

- wyprowadzenia dostepne na zlaczu rozszerzen

SONAR

S_CS
MOSI
SMISO
SCK

C9

C11

2

2

1

1

3

3

S2

LD_FL LD_FR

LD_BL LD_BR

C

4

(ADC7)PA7

30

(ADC6)PA6

31

(ADC5)PA5

32

(ADC4)PA4

33

(ADC3)PA3

34

(ADC2)PA2

35

(ADC1)PA1

36

(ADC0)PA0

37

(SCK)PB7

3

(MISO)PB6

2

(MOSI)PB5

1

(SS)PB4

44

(AIN1/OC0)PB3

43

(AIN0/INT2)PB2

42

(T1)PB1

41

(T0/XCK)PB0

40

(TOSC2)PC7

26

(TOSC1)PC6

25

(TDI)PC5

24

(TDO)PC4

23

(TMS)PC3

22

(TCK)PC2

21

PC1(SDA)

20

PC0(SCL)

19

AGND

28

AVCC

27

AREF

29

XTAL1

8

XTAL2

7

18

39

RESET

4

(RXD)PD0

9

(TXD)PD1

10

(INT0)PD2

11

(INT1)PD3

12

(OC1B)PD4

13

(OC1A)PD5

14

(ICP)PD6

15

(OC2)PD7

16

17

VCC

5

38

GND

6

IC2

Q

1

C1

C2

R1

1

2

3

4

5

6

7

8

9

10

ISP

R

5

R

6

R

8

R

7

R3

R

4

C3

1

2

3

4

5

6

JP1

1
2
3
4
5
6
7
8
9

10

CON_R1

1
2
3
4
5
6
7
8
9
10

CON_L1

R

1

5

R

1

6

R

1

7

R

1

8

R

9

R2

A

E

S

P1

R14

IC5

C10

OUT1

9

OUT2

7

P

G

N

D

8

G

N

D

2

V

C

C

6

G

N

D

5

FIN

1

RIN

3

4

4

IC4

R

1

3

C7

R12

1

2

3

IC3A

4

5

6

IC3B

9

10

8

IC3C

12

13

11

IC3D

7

1

4

IC3P

G

N

D

V

C

C

OUT1

9

OUT2

7

P

G

N

D

8

G

N

D

2

V

C

C

6

G

N

D

5

FIN

1

RIN

3

4

4

IC1

R

1

1

C5

R10

VCC

1

RXD

2

TXD

3

CTS

4

GND

5

RADIO

MOBOT-RCRV2B

C6

3

1
2

4

S

1

O

U

T

1

G

N

D

2

V

C

C

3

IC9

TSOP48

T1

C8

1

2

3

4

5

6

7

8

Z1

1
2
3
4
5
6
7
8

Z2

R31

C21

C22

GND

GND

GND

GND

MOSI

MOSI

MOSI

SCK

SCK

SCK

MISO

MISO

MISO

RESET

RESET

V+
V+

BAT_SENS

BAT_SENS

SRESET

SMISO

TXD

TXD

TXD

RXD

RXD

RXD

ML_A

ML_A

ML_B

ML_B

MR_B

MR_B

MR_A

MR_A

LINL_F

LINL_F

LINL_B

LINL_B

LINR_F

LINR_F

LINR_B

LINR_B

LD_FL

LD_FL

LD_FR

LD_FR

LD_BL

LD_BL

LD_BR

LD_BR

LIN+

LIN+

MLA

MLA

MLB

MLB

MLPWM

MLPWM

MRA

MRA

MRB

MRB

MRPWM

MRPWM

MLSENS

MLSENS

MRSENS

MRSENS

LINPWR

LINPWR

S1

S1

INT0

INT0

+5V

BAT

BAT

PA1

PA1

PB4

PB4

PA0

PA0

PA2

PA2

S_CS

PB3

PB3

PB2

PB2

100n

100n

GND

ESP2010

1

0

0

n

MEGA32-A

16MHz

27pF

27pF

GND

22k

GND

V+

4

7

k

4

7

k

4

7

k

10k

3

k

3

GND

V+

GND

100n

GND

GND

GND

GND

GND

GND

GND

GND

4

7

0

R

4

7

0

R

4

7

0

R

4

7

0

R

2

2

0

1k

10k

LP2950DPAK

220u

BA6418N

1

R

GND

GND

100n

1k

GND

74AS08D

74AS08D

74AS08D

74AS08D

V+

BA6418N

1

R

GND

GND

100n

1k

GND

V+

GND

100n

GND

GND

+5V

+5V

+5V

GND

GND

+5V

100n

GND

V+

+5V

+5V

+5V

+5V

470R

4u7

GND

100n