Servo Ports Motor Ports

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2

C
P$3

Borne
P$1 P$2 P$3 3

Sensor Ports
M11 M12 M21 M22 M31 M32 M41 M42

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

Borne
P$1 P$2 P$3

PWR_CORE

T1 2N3904 M12_PWR

PWR_CORE T2 2N3904 M34_PWR Vmotor

PWR_CORE GND PWR_CORE PWR_CORE S9

3.3k

VCC1 VCC2

ME1 MD11 MD12 ME2 MD21 MD22

H-Bridge

GND1 GND2 GND3 GND4

VCC1 VCC2

C5

R2

1 21 2
0.1uF

9 10 15

3,4EN 3A 4A

3Y 4Y

11 M21 14 M22

ME3 MD31 MD32 ME4 MD41 MD42

1 2 7 9 10 15

1,2EN 1A 2A 3,4EN 3A 4A

16 8

1 2 7

1,2EN 1A 2A

16 8

Vmotor

1Y 2Y

3 M11 6 M12

1Y 2Y 3Y 4Y

3 M31 6 M32 11 M41 14 M42

H-Bridge

11 32

Stop_BTN GND
1 2 3 4 5 RUN_LED 6 7 SS5 8 SS6 9 SS7 10 SS8

GND SS1 SS2 SS3 SS4

_MCLR/VPP/RE3 KBI3/PGD/RB7 AN0/RA0 KBI2/PGC/RB6 AN1/RA1 KBI1/PGM/RB5 VREF-/CVREF/AN2/RA2 KBI0/CSSP/AN11/RB4 VREF+/AN3/RA3 CCP2/VPO/AN9/RB3 T0CKI/C1OUT/RCV/RA4 INT2/VMO/AN8/RB2 _SS/HLVDIN/C2OUT/AN4/RA5 INT1/SCK/SCL/AN10/RB1 CK1SPP/AN5/RE0 INT0/FLT0/SDI/SDA/AN12/RB0 CK2SPP/AN6/RE1 OESPP/AN7/RE2 P1D/SPP7/RD7 P1C/SPP6/RD6 OSC1/CLKI/RA7 P1B/SPP5/RD5 OSC2/CLKO/RA6 SPP4/RD4 T1OSO/T13CKI/RC0 RX/DT/SDO/RC7 T1OSI/CCP2/_UOE/RC1 TX/CK/RC6 CCP1/P1A/RC2 D+/VP/RC5 VUSB D-/VM/RC4 SPP0/RD0 SPP3/RD3 SPP1/RD1 SPP2/RD2 40 M12_PWR 39 ME1 38 MD11 37 MD12 36 ME2 35 MD21 34 I2C_SCL 33 I2C_SDA 30 MD22 29 M34_PWR 28 ME3 27 MD31 26 MD42 25 MD41 24 D+ 23 D22 MD32 21 ME4

GND1 GND2 GND3 GND4

4 5 12 13

TI SN754410

VDD VDD

Vunreg

PWR_CORE GND
1 JP4 1 JP5 2 2
2 Ohms

Power Supply
R10

Vmotor dont close JP4 & JP5 at the same time (it would short circuit vcc_unreg with (5V_usb or +5V))

20 MHz Clock
33.3k

33.3k R16

S10
33.3k R15 R14 33.3k

Pwr Jack
+V GND +V GND

1 JP2

1
RUN_BTN
3.3k R6

VSS VSS

Vunreg

GND

13 14 15 16 17 PIEZO VUSB18 19 USER_LED 20 RUN_BTN

Power Supply Jumpers

Pull-Up Jumpers
Sensors 4&5 can be configured as pure analog (with no pull-up)

1 JP3 2

R13

PWR_CORE PWR_CORE GND

31 12

PIC18F4550

U$17
2 VIN ON GND FB CB VSW 6
C13

33.3k

PWR_CORE GND

GND

GND GND
1 21 2
VUSB 470nf
3.3k 3.3k R5 R4

D2 SB540
GND VCC

7 4

4 5 12 13

TI SN754410

3 1 21 2 1
0.1uF

L1 22uH C8

+5V

33.3k R12

33.3k R11

GND

C6

5V_USB

1 21 2

1 21 2
0.1uF

33.3k R9

I2C_SCL

I2C_SDA
USER_LED1 USER_LED2 USER_LED

VCC
RUN_LED ON_LED

0.47uf

R3

Battery Pack
C10

C7

C9 GND

D3

PWR_CORE

GND

LM2676T-5.0

SB540

220uf/16v GND

I2C Bus Connector

470uf/16v 470uf/16v

PWR_CORE

PWR_CORE

Borne

Borne
P$2 P$3 P$1 P$2 P$3

SP2

KSS1201

P$1

R17

GND VDD DD+

+5V
1 2 3

GND
1 2 3 1 2 3
R7 R8 1k 1k

GND 5V_USB

+5V

GND

I2C_SDA I2C_SCL

USB

Vunreg

GND

GND

09/12/2010 14:41:19 f=0.80 F:\trunk\Br-Gogo_DuplaFace.sch (Sheet: 1/1)

GND