5

16M

C7
22p

GND
GND
XTAL2
XTAL1
(RXD) PD0
(TXD) PD1
( ITN0) PD2

DIR1
MOTOR1
INT2
T1
T0

PA0
PA1
PA2
PA3
37
36
35
34
PA0(ADC0 )
PA1(ADC1 )
PA2(ADC2)
PA3(ADC3 )

INT1
OC1A
OC1B
DIR2
MOTOR2

12
13
14
15
16

C6
22p

A
B
C

+5V
OC1A
DIR LEFT

J9
4
3
2
1

J5
1
2
3
4
5
6

MOTOR LEFT

MODULE ISP LED SEGMEN

J7
T0 +5V
T1

10
9
8
7
6
5
4
3
2
1

COUNTER

INTERRUPTS

+5V

C10
104
U7

Y1

5
6

A
B
C

11
10
9

ICISP

Y
Y

D0
D1
D2
D3
D4
D5
D6
D7

4
3
2
1
15
14
13
12

9
8
7
6
5
4
3
2

+5V
2K2

J12

A
B
C

+5V

RN1

16

2
4
6
8
10

PA0
PA1
PA2
PA3
PA4
PA5 +5V
PA6
PA7

ADC INPUT

+5V

5V

ATISP

1
3
5
7
9

/RESET
SCK
MISO

C21 0.1uF

4
3
2
1

INT1 +5V
INT2

4
3
2
1

MOTOR RIGHT

+5V

J8

J6

Y1
BUZZ
MOTOR3
DIR3
D

+5V

J11
MOSI

4
3
2
1

1
2
3
4
5
6
7
8
9
10

R37

BUZZ

Q5
A564
1k2

LS5

SPEAKER

SWITCH LIMIT

GND

+5V

MOSI
MISO
SCK
/RESET

+5V
OC1B
DIR RIGHT

J10

C5
0.1uF

VCC

6
39
7
8
9
10
11

X1

GND

C4
0.1uF

C20
0.1uF

SW1
RESET

C2
0.1uF

KIA7045

PA4
PA5
PA6
PA7

33
32
31
30
29
27
28
26
25
24
23

PA4(ADC4 )
PA5(ADC5 )
PA6(ADC6 )
PA7(ADC7 )
AREF
AVCC
GND
PC7(TOSC2 )
PC6 (TOSC1 )
PC5 (TDI)
PC4 ( TDO)

17

OUT

(MOSI) PB5
(MISO) PB6
(SCK) PB7
RESET
VCC
VCC

18

GND

IN

1
2
3
4
38
5

( SCL) PC0
(SDA ) PC1
(TCK ) PC2
(TMS ) PC3

MOSI
MISO
SCK
/RESET
+5V

/RESET

L1

U4

DIR LEFT 19
DIR RIGHT 20
DIR4
21
MOTOR4 22

R2
47K
U2
1

10uH

PB4( SS)
PB3( AIN1/OC0)
PB2(AIN0/INT2)
P B1(T1 )
PB0(XCK/T0 )

AVR32 DAN

(ITN1 ) PD3
( OC1A) PD4
( OC1B) PD5
( ICP1) PD6
( OC2) PD7

+5V

44
43
42
41
40

+5V

74151
+5V

+5V

+12V
U8

D23
1

2
1N4007

12VDC

V IN

4
5

C11 +

OUTPUT

FB
ON/OFF

LM2575/TO

1000UF/25V

ROLE3

R20
330

R1

D24
1N5819

C12

C13
104

D25
PWR LED

220UF/16V

U1

220

R4
33k

8
5

D3

D4

1N4148

POWER MOTOR

LED

D9

R6
330 2W

PC921

1N5819

+M24V

D5

7
4

+M24V

F1 FUSE

J1

IRF540
M1

6
5
4
3
2
1

D1
8
1

MOTOR3

J15

LS1
RELAY

M12V

33uH

GND

1
2

L2

J13

1N5819

1
2

C1
104

MOTOR3

1N4148

M12V
SW2
R23
2.2K

D30
1N4007

MOTOR1
C15 +

C17 +

1000UF/50V

D31
1000UF/25V

C16 +

1000UF/50V

24V PWR LED

+5V
ROLE4
R8

R9

+5V

33k

8
5

+12V
D13

R33
2.2K

D14

+5V

1N4148

LED

D19
U14A
LM393
3

3
2

R36

MOTOR4

SW4
MOTOR2

20K

C18
104

1N5819

1
2

C8
104

+5V
VR1

R12
330 2W

PC921

1N5819

7
4

C19
104

+M24V

1N4148

R35
2.2K

R34
2.2K

D15

D36

J3

IRF540
M3

MOTOR4

D11
8
1

R32
330
LOW BATTERY LED

LS3
RELAY

M12V
U5

220

1M

M12V

M12V

D21
DIR1 LED

U9
PC817

D26

ROLE1

R22 1k

U10
PC817

D27

D6

IRF540
M2

5
+M24V

D8

ROLE3

7
1N4148

LED

D10

1N4148
D28

D7

D2
8
1

MOTOR1

1N4148

8
5

R5
33k
Q2
A1015

LS2
RELAY

M12V
U3

220

DIR3
2

DIR1

ROLE1
R3

D22
DIR1 LED

R19
330

R40
3k3

Q1
A1015

R21 1k

+5V
R17
3k3

+5V

3k3

R18
330

R38
3k3

R15
1k

R16

R14
1k
+5V

R7
330 2W

PC921

1N5819

J2
1N5819

7
4

C3
104

1
2
MOTOR1

1N4148
D29

1N4148

1N4148

SW3
MOTOR1

SW6
DIR1

SW7
DIR1
M12V

M12V
+5V
ROLE2

R39
3k3

R30 1k
1

+5V

U12
PC817

D34

Q3
A1015
ROLE2

R31 1k

U13
PC817

D35

8
5
1

D16

D17

MOTOR2

7
D20

LED

PC921

R13
330 2W

J4

5
D18

+M24V

2
1N4148

Q4
A1015

D12
8
1

IRF540
M4

1N5819

6
7
4
3
2

1N5819
C9
104

1
2
MOTOR2
A

1N4148

ROLE4

1N4148

DIR4
2

DIR2

R29
330

R41
3k3

LS4
RELAY

M12V
U6

220

33k

R27
3k3
D33
DIR1 LED

D32

R10

R11

R28
330

R26
1k

R25
3k3

+5V

DIR1 LED

R24
1k

SW5
MOTOR2

1N4148
D37

D38

1N4148

1N4148

SW8

SW9

DIR1

DIR1

Title

BOARD ROBOCON

Size
A1

Document Number

PDF created with pdfFactory Pro trial version www.pdffactory.com

Rev
Le Tan Cuong

Date:

Saturday, April 18, 2009

1

Sheet

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