27pF 27pF

+5V +5V/1

C2
Antenna

GND
3 inches 33uH
900 mhz receiver
7.3728 +5V

C1
L1 Q1
C3 C4
RXM-900-HP3 AVR-ISP
.1uF 0.1uF Programmer
1
ANT

12
24

44
23
11

34
33
35

14

13

10
2 PLCC package 1 2
GND

1
GND2
3 3 4
GND3
4 5 6
GND4 GND

XTAL1
GND

RESET
VCC

XTAL2
AGND
AVCC
AREF
5 7 8
GND5
6 ATMEGA8535-16JC 9 10
GND6
7
GND7
8 IC1 SV1
GND8
9
N/C

(TOSC1)PC6
(TOSC2)PC7
10

(OC1B)PD4
(OC1A)PD5

(ADC0)PA0
(ADC1)PA1
(ADC2)PA2
(ADC3)PA3
(ADC4)PA4
(ADC5)PA5
(ADC6)PA6
(ADC7)PA7
CHS-0 GND

(MOSI)PB5
(MISO)PB6
(AIN0)PB2
(AIN1)PB3
(INT0)PD2
(INT1)PD3
(RXD)PD0

(OC2)PD7

(SCK)PB7
C8

(TXD)PD1
11

(ICP)PD6

(SS)PB4
CHS-1

(T0)PB0
(T1)PB1
12 +5V
CHS-2
13 0.1uF

PC0
PC1
PC2
PC3
PC4
PC5
PWR-DN
14
RSSI
15
GND
16
VCC GND

21

31

41
2
3
4
5
6
7
8
9
15
16
17
18
19
20

22

25
26
27
28
29
30

32

43
42

40
39
38
37
36
17
ANALOG
18
DATA
RX DATA

IC3 Current sensor info from H-Bridges

R1
LM_CFB+
330
GND
+5V LM_CFB-
IC2
2 1

330

330
R5

R6
RM_CFB+
+5V 3 upright=high

upright=low
Blue

Yellow
D2

D3
5 4 RM_CFB-

GP1S36 WM_CURRENT
+5V

Tilt Sensor
10K

10K
R2

R3

Sharp GP1S36
DigiKey 425-1045-5 LM+RM_ENABLE

GND LM_PWM
28.8 kHz PWM
RED-LED
RM_PWM Control signals to H-Bridges
GND

D 1 R4
push-on, push-off Switch
1200 WM_ENABLE
SW1 +15V +5V
EG1102
WM_REV Weapon motor h-bridge control
1
IN OUT
2 WM_FWD
3 C5 GND
.1uF
C6

IC4
6 470uF ZR78L05GCT This work is licensed under the Creative
Ant Weight Combat Robot Controller
5 Commons Attribution License. by Dale Heatherington April 2004
4 To view a copy of this license, visit
for "Thrasher"
GND http://www.wa4dsy.net/robot
http://creativecommons.org/licenses/by/1.0/
SV2 or send a letter to Creative Commons,
6 5 559 Nathan Abbott Way, Stanford, California
7.4V+ 4 3 7.4V- 94305, USA.
2 1
7.4V- 7.4V+
This schematic is distributed in the hope that it will be useful, 2.1
but WITHOUT ANY WARRANTY; without even the implied warranty of
7.4V battery packs (2 each) MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.