5

5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
MOTOR-R
MOTOR-F
MOTOR-EN
MOTOR-F
MOTOR-EN MOTOR-EN
MOTOR-R
H
I
H
I
HI
HI
HI
H
I
H
I
H
I
H
I
H
I
H
I
H
I
H
I
H
I
HI
H
I
H
I
H
I
H
I
0
H
I
0
0
HI
HI
HI
0
Title
Size Document Number Rev
Date: Sheet of
UGV ORCAD DESIGN <RevCode>
UGV PCB
Custom
1 1 Wednesday, November 02, 2011
Title
Size Document Number Rev
Date: Sheet of
UGV ORCAD DESIGN <RevCode>
UGV PCB
Custom
1 1 Wednesday, November 02, 2011
Title
Size Document Number Rev
Date: Sheet of
UGV ORCAD DESIGN <RevCode>
UGV PCB
Custom
1 1 Wednesday, November 02, 2011
D6
DIODE
D6
DIODE R10
RESISTOR
R10
RESISTOR
J7
CON3
J7
CON3
1
2
3
U10
4N25
U10
4N25
1 6
2
5
4
U15
MAX232A
U15
MAX232A
C
1
+
1
C
1
-
3
C
2
+
4
C
2
-
5
V
C
C
1
6
G
N
D
1
5
V+
2
V-
6
R1OUT
12
R2OUT
9
T1IN
11
T2IN
10 R1IN
13
R2IN
8
T1OUT
14
T2OUT
7
C17
CAP NP
C17
CAP NP
R6
RESISTOR
R6
RESISTOR
J12
CON6
J12
CON6
123456R12
RESISTOR
R12
RESISTOR
C11
CAP
C11
CAP
C6
CAP NP
C6
CAP NP
D8
DIODE
D8
DIODE
J3
CON2
J3
CON2
1
2
R7
RESISTOR
R7
RESISTOR
U9
L298/MULTIH
U9
L298/MULTIH
VS
4
IN1
5
IN2
7
G
N
D
8
VSS
9
IN3
10
IN4
12
OUT1
2
OUT2
3
OUT3
13
OUT4
14
ISENA
1
ISENB
15
ENA
6
ENB
11
J8
CON3
J8
CON3
1
2
3
C12
CAP
C12
CAP
D13
DIODE
D13
DIODE
C7
CAP
C7
CAP
D14
LED
D14
LED
Y1
CRYSTAL
Y1
CRYSTAL
D9
DIODE
D9
DIODE
J14
CON3
J14
CON3
1
2
3
C2
CAP
C2
CAP
U13
4N25
U13
4N25
1 6
2
5
4
J9
CON3
J9
CON3
1
2
3
C13
CAP
C13
CAP
R1
RESISTOR
R1
RESISTOR
U12
4N25
U12
4N25
1 6
2
5
4
C4
CAP
C4
CAP
C8
CAP
C8
CAP
D1
DIODE
D1
DIODE
U17
MAX487
U17
MAX487
RO
1
DI
4
G
N
D
5
V
C
C
8
RE
2
DE
3
A
6
B
7
R8
RESISTOR
R8
RESISTOR
D10
DIODE
D10
DIODE
U20
PIC18F452
U20
PIC18F452
MCLR/VPP
1
RA0/ANO
2
RA1/AN1
3
RA2/AN3/VREF-
4
RA3/AN3/VREF+
5
RA4/TOCKI
6
RA5/AN4
7
RE0/AN5/RD
8
RE1/WR/AN6
9
RE2/CS/AN7
10
Vdd
11
Vss
12
OSC1/CLK1
13
OSC2/CLK0/RA6
14
RC0/T1OSO
15
RC1/T1OS1/CCP2
16
RC2/CCP1
17
RC3/SCK/SCL
18
RD0/PSP0
19
RD1/PSP1
20
RD2/PSP2
21
RD3/PSP3
22
RC4/SDI/SDA
23
RC5/SD0
24
RC6/TX
25
RC7/RX
26
RD4/PSP4
27
RD5/PSP5
28
RD6/PSP6
29
RD7/PSP7
30
RBO/INT0
33
RBI/INT1
34
RB2/INT2
35
RB3/CCP2
36
RB4
37
RB5/PGM
38
RB6/PGC
39
RB7/PGD
40
C3
CAP
C3
CAP
J11
CON4
J11
CON4
1
2
3
4
U14
MAX232A
U14
MAX232A
C
1
+
1
C
1
-
3
C
2
+
4
C
2
-
5
V
C
C
1
6
G
N
D
1
5
V+
2
V-
6
R1OUT
12
R2OUT
9
T1IN
11
T2IN
10 R1IN
13
R2IN
8
T1OUT
14
T2OUT
7 J10
CON3
J10
CON3
1
2
3
D7
LED
D7
LED
C14
CAP
C14
CAP
R13
RESISTOR
R13
RESISTOR
R2
RESISTOR
R2
RESISTOR
C15
CAP
C15
CAP
D2
DIODE
D2
DIODE
R4
RESISTOR
R4
RESISTOR
D11
DIODE
D11
DIODE
J1
CON2
J1
CON2
1
2
J15
CON3
J15
CON3
1
2
3
C9
CAP
C9
CAP
R3
RESISTOR
R3
RESISTOR
R9
RESISTOR
R9
RESISTOR
D3
DIODE
D3
DIODE
U2
LM7805/TO
U2
LM7805/TO
VIN
1
G
N
D
3
VOUT
2
D12
DIODE
D12
DIODE
D5
DIODE
D5
DIODE
U18
4N25
U18
4N25
1 6
2
5
4
J2
CON2
J2
CON2
1
2
SW2
SW_PB_SPST
SW2
SW_PB_SPST
C10
CAP
C10
CAP
R11
RESISTOR
R11
RESISTOR
C16
CAP NP
C16
CAP NP
U16
4052
U16
4052
X0
12
X1
14
X2
15
X3
11
Y0
1
Y1
5
Y2
2
Y3
4
EN
6
A
10
B
9
X
13
Y
3
V
C
C
1
6
G
N
D
8
R5
RESISTOR
R5
RESISTOR
D4
DIODE
D4
DIODE
C5
CAP NP
C5
CAP NP
U1
LM7805/TO
U1
LM7805/TO
VIN
1
G
N
D
3
VOUT
2