EESchema Schematic File Version 2  date dom 03 oct 2010 18:02:12 COT
LIBS:dc-dc
LIBS:headers
LIBS:lm3478
LIBS:mpc17529
LIBS:mmbt2222a
LIBS:mm74hc14m
LIBS:device
LIBS:hole
LIBS:SIE_power_module-cache
EELAYER 24  0
EELAYER END
$Descr A4 11700 8267
Sheet 4 5
Title ""
Date "3 oct 2010"
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L HOLE J23
U 1 1 4CA8F8B9
P 4900 6800
F 0 "J23" H 4800 7100 60  0000 C CNN
F 1 "HOLE" H 4900 6800 60  0000 C CNN
	1    4900 6800
	1    0    0    -1  
$EndComp
$Comp
L HOLE J22
U 1 1 4CA8F8AC
P 4900 6250
F 0 "J22" H 4800 6550 60  0000 C CNN
F 1 "HOLE" H 4900 6250 60  0000 C CNN
	1    4900 6250
	1    0    0    -1  
$EndComp
Text GLabel 9150 5300 2    20   BiDi ~ 0
RX1_FPGA
Text GLabel 9150 5250 2    20   BiDi ~ 0
TX1_FPGA
Text GLabel 8050 5350 2    20   BiDi ~ 0
RX1_FPGA
Text GLabel 8050 5300 2    20   BiDi ~ 0
TX1_FPGA
Text GLabel 8050 5250 2    20   BiDi ~ 0
JZ4725_SCK
Text GLabel 8050 5200 2    20   BiDi ~ 0
JZ4725_SDA
Wire Wire Line
	8050 5350 7750 5350
Wire Wire Line
	8050 5250 7750 5250
Wire Wire Line
	9200 5350 8950 5350
Wire Wire Line
	9150 5250 8950 5250
Wire Wire Line
	6700 4300 7000 4300
Wire Wire Line
	6700 4200 7000 4200
Wire Wire Line
	7000 5200 6700 5200
Wire Wire Line
	7100 3950 7500 3950
Wire Wire Line
	7150 3900 7500 3900
Wire Wire Line
	9000 3950 8900 3950
Wire Wire Line
	8400 3950 8000 3950
Wire Wire Line
	8250 3900 8000 3900
Wire Notes Line
	6150 4850 6150 3650
Wire Notes Line
	6150 4850 9350 4850
Wire Notes Line
	9350 4850 9350 3650
Wire Notes Line
	9350 3650 6150 3650
Wire Wire Line
	6750 5950 6900 5950
Wire Wire Line
	7400 5950 7450 5950
Wire Wire Line
	7450 5950 7450 6050
Wire Wire Line
	7450 6050 7800 6050
Wire Wire Line
	8650 6100 8300 6100
Wire Wire Line
	8650 6050 8300 6050
Wire Wire Line
	9150 2550 8800 2550
Wire Wire Line
	9100 1900 8700 1900
Wire Wire Line
	8700 2000 8850 2000
Wire Wire Line
	8850 2100 8800 2100
Wire Wire Line
	8800 2100 8800 2000
Connection ~ 8800 2000
Wire Wire Line
	6500 2550 6850 2550
Wire Wire Line
	7500 2600 7300 2600
Wire Wire Line
	2650 5600 2550 5600
Wire Wire Line
	1600 5600 1550 5600
Wire Wire Line
	8250 3150 8000 3150
Wire Bus Line
	7350 6750 7450 6750
Wire Bus Line
	7450 6750 7450 6450
Wire Wire Line
	6700 6600 6900 6600
Wire Bus Line
	6600 6450 6600 6750
Wire Bus Line
	6600 6750 6500 6750
Wire Wire Line
	7800 6000 7550 6000
Wire Wire Line
	8650 6000 8300 6000
Wire Notes Line
	6150 4950 6150 5600
Wire Notes Line
	6150 4950 9350 4950
Wire Notes Line
	9350 4950 9350 5600
Wire Notes Line
	9350 5600 6150 5600
Wire Wire Line
	6700 5250 6950 5250
Wire Notes Line
	6150 2900 6150 2350
Wire Notes Line
	6150 2900 9350 2900
Wire Notes Line
	9350 2900 9350 2350
Wire Notes Line
	9350 2350 6150 2350
Wire Notes Line
	9350 1650 6150 1650
Wire Notes Line
	9350 1650 9350 1100
Wire Notes Line
	9350 1100 6150 1100
Wire Wire Line
	6850 2650 6600 2650
Wire Wire Line
	8350 2650 8100 2650
Wire Wire Line
	3800 1700 3500 1700
Wire Wire Line
	3800 1600 3500 1600
Wire Wire Line
	3450 4750 3250 4750
Wire Wire Line
	7150 1900 6750 1900
Wire Wire Line
	8950 1300 8400 1300
Wire Wire Line
	7450 1300 6900 1300
Wire Wire Line
	6750 2000 6900 2000
Wire Wire Line
	3450 3250 3250 3250
Wire Wire Line
	3450 3150 3250 3150
Wire Wire Line
	4950 3200 4750 3200
Wire Wire Line
	4950 3100 4750 3100
Wire Wire Line
	2000 3250 1800 3250
Wire Wire Line
	2000 3150 1800 3150
Wire Wire Line
	3300 3850 3550 3850
Wire Wire Line
	3300 3750 3550 3750
Wire Wire Line
	1800 3850 2050 3850
Wire Wire Line
	1800 3750 2050 3750
Wire Wire Line
	1650 2050 1450 2050
Wire Wire Line
	1650 1950 1450 1950
Wire Wire Line
	1650 1850 1450 1850
Wire Wire Line
	1650 1750 1450 1750
Wire Wire Line
	1650 1650 1450 1650
Wire Wire Line
	1650 1550 1450 1550
Wire Wire Line
	1400 2400 1650 2400
Wire Wire Line
	1400 2300 1650 2300
Wire Wire Line
	1400 2200 1650 2200
Wire Wire Line
	2250 2300 2500 2300
Wire Wire Line
	2250 2200 2500 2200
Wire Wire Line
	2250 1950 2450 1950
Wire Wire Line
	2250 1850 2450 1850
Wire Wire Line
	2250 1750 2450 1750
Wire Wire Line
	2250 1650 2450 1650
Wire Wire Line
	2250 1550 2450 1550
Wire Wire Line
	2250 1450 2450 1450
Wire Wire Line
	2350 2100 2250 2100
Wire Wire Line
	1550 2150 1650 2150
Wire Wire Line
	1550 1450 1650 1450
Wire Wire Line
	1550 2100 1650 2100
Wire Wire Line
	2250 2050 2350 2050
Wire Wire Line
	2250 2150 2350 2150
Wire Wire Line
	2450 1500 2250 1500
Wire Wire Line
	2450 1600 2250 1600
Wire Wire Line
	2450 1700 2250 1700
Wire Wire Line
	2450 1800 2250 1800
Wire Wire Line
	2450 1900 2250 1900
Wire Wire Line
	2450 2000 2250 2000
Wire Wire Line
	2500 2250 2250 2250
Wire Wire Line
	2500 2350 2250 2350
Wire Wire Line
	1650 2250 1400 2250
Wire Wire Line
	1650 2350 1400 2350
Wire Wire Line
	1450 1500 1650 1500
Wire Wire Line
	1450 1600 1650 1600
Wire Wire Line
	1450 1700 1650 1700
Wire Wire Line
	1450 1800 1650 1800
Wire Wire Line
	1450 1900 1650 1900
Wire Wire Line
	1450 2000 1650 2000
Wire Wire Line
	2050 3700 1800 3700
Wire Wire Line
	2050 3800 1800 3800
Wire Wire Line
	3550 3700 3300 3700
Wire Wire Line
	3550 3800 3300 3800
Wire Wire Line
	1800 3100 2000 3100
Wire Wire Line
	1800 3200 2000 3200
Wire Wire Line
	3250 3100 3450 3100
Wire Wire Line
	4750 3150 4950 3150
Wire Wire Line
	4750 3250 4950 3250
Wire Wire Line
	3250 3200 3450 3200
Wire Wire Line
	2500 2400 2250 2400
Wire Wire Line
	7450 1400 6900 1400
Wire Wire Line
	8950 1400 8400 1400
Wire Wire Line
	6900 2100 6850 2100
Wire Wire Line
	6850 2100 6850 2000
Connection ~ 6850 2000
Wire Bus Line
	3400 1500 3400 1950
Wire Bus Line
	3400 1950 3250 1950
Wire Wire Line
	3450 4700 3250 4700
Wire Wire Line
	3450 4650 3250 4650
Wire Wire Line
	3800 1650 3500 1650
Wire Wire Line
	3800 1750 3500 1750
Connection ~ 7800 2000
Wire Wire Line
	7800 2000 7800 2100
Wire Wire Line
	7800 2100 7850 2100
Wire Wire Line
	7700 2000 7850 2000
Wire Wire Line
	8100 1900 7700 1900
Wire Wire Line
	3450 4600 3250 4600
Wire Wire Line
	9050 2600 8800 2600
Wire Wire Line
	8350 2600 8100 2600
Wire Wire Line
	8800 2650 9050 2650
Wire Wire Line
	7300 2650 7550 2650
Wire Notes Line
	6150 1100 6150 1650
Wire Notes Line
	6150 2250 6150 1700
Wire Notes Line
	6150 2250 9350 2250
Wire Notes Line
	9350 2250 9350 1700
Wire Notes Line
	9350 1700 6150 1700
Wire Wire Line
	8000 3250 8250 3250
Wire Wire Line
	8250 3200 8000 3200
Wire Wire Line
	8250 3300 8000 3300
Wire Notes Line
	9350 3000 9350 3550
Wire Wire Line
	6700 5300 6950 5300
Wire Wire Line
	8650 5950 8300 5950
Wire Wire Line
	7550 5950 7800 5950
Wire Wire Line
	6900 6550 6700 6550
Wire Wire Line
	7800 6550 7550 6550
Wire Wire Line
	7800 6600 7550 6600
Wire Wire Line
	8350 6650 8150 6650
Wire Wire Line
	8150 6700 8350 6700
Wire Wire Line
	9250 6700 9000 6700
Wire Wire Line
	9250 6650 9000 6650
Wire Notes Line
	9350 5700 6150 5700
Wire Wire Line
	2100 6650 2000 6650
Wire Wire Line
	3500 6650 3400 6650
Wire Wire Line
	2900 6650 2700 6650
Wire Wire Line
	3000 6500 2800 6500
Wire Wire Line
	2800 6500 2800 6650
Connection ~ 2800 6650
Connection ~ 2800 6250
Wire Wire Line
	2800 6250 2800 6100
Wire Wire Line
	2800 6100 3000 6100
Wire Wire Line
	2900 6250 2700 6250
Wire Wire Line
	3500 6250 3400 6250
Wire Wire Line
	2100 6250 2000 6250
Wire Wire Line
	2100 5600 2150 5600
Wire Wire Line
	6650 2600 6850 2600
Wire Wire Line
	7650 2550 7300 2550
Wire Wire Line
	8000 2550 8350 2550
Wire Notes Line
	9350 3000 6150 3000
Wire Notes Line
	6150 3000 6150 3550
Wire Notes Line
	6150 3550 9350 3550
Wire Wire Line
	7100 3350 6850 3350
Wire Wire Line
	7100 3200 6850 3200
Wire Wire Line
	6850 3250 7100 3250
Wire Wire Line
	7100 3150 6850 3150
Wire Wire Line
	7800 6100 7450 6100
Wire Wire Line
	7450 6100 7450 6150
Wire Wire Line
	7450 6150 7400 6150
Wire Wire Line
	6900 6150 6750 6150
Wire Notes Line
	9350 5700 9350 6850
Wire Notes Line
	9350 6850 6150 6850
Wire Notes Line
	6150 6850 6150 5700
Wire Wire Line
	7100 3300 6850 3300
Wire Wire Line
	8250 4000 8000 4000
Wire Wire Line
	8000 4050 8400 4050
Wire Wire Line
	9000 4050 8900 4050
Wire Wire Line
	7150 4000 7500 4000
Wire Wire Line
	7100 4050 7500 4050
Wire Wire Line
	7100 4650 7500 4650
Wire Wire Line
	7150 4600 7500 4600
Wire Wire Line
	9000 4650 8900 4650
Wire Wire Line
	8000 4650 8400 4650
Wire Wire Line
	8250 4600 8000 4600
Wire Wire Line
	8250 4500 8000 4500
Wire Wire Line
	8400 4550 8000 4550
Wire Wire Line
	9000 4550 8900 4550
Wire Wire Line
	7150 4500 7500 4500
Wire Wire Line
	7100 4550 7500 4550
Wire Wire Line
	6700 5350 7000 5350
Wire Bus Line
	6450 4550 6600 4550
Wire Bus Line
	6600 4550 6600 4100
Wire Wire Line
	7000 4250 6700 4250
Wire Wire Line
	7000 4350 6700 4350
Wire Wire Line
	5250 1750 4950 1750
Wire Wire Line
	5250 1650 4950 1650
Wire Bus Line
	4700 1950 4850 1950
Wire Bus Line
	4850 1950 4850 1500
Wire Wire Line
	5250 1600 4950 1600
Wire Wire Line
	5250 1700 4950 1700
Wire Wire Line
	3450 4800 3250 4800
Wire Wire Line
	9200 5200 8950 5200
Wire Wire Line
	9150 5300 8950 5300
Wire Wire Line
	8050 5200 7750 5200
Wire Wire Line
	8050 5300 7750 5300
Text Notes 7600 5150 0    60   ~ 0
TO SIE
Text GLabel 9200 5350 2    20   BiDi ~ 0
GND
Text GLabel 9200 5200 2    20   BiDi ~ 0
3.3V
Text Label 9150 5300 2    20   ~ 0
RX1_FPGA
Text Label 9150 5250 2    20   ~ 0
TX1_FPGA
$Comp
L HEADER_4 J21
U 1 1 4C98B50D
P 8700 5500
F 0 "J21" H 8500 5700 60  0000 C CNN
F 1 "HEADER_4" H 8700 5500 60  0000 C CNN
	1    8700 5500
	1    0    0    -1  
$EndComp
Text Notes 8300 5300 0    20   ~ 0
UART FPGA
Text Notes 8300 5350 0    20   ~ 0
UART FPGA
Text Label 8000 5350 2    20   ~ 0
RX1_FPGA
Text Label 8000 5300 2    20   ~ 0
TX1_FPGA
$Comp
L HEADER_4 J17
U 1 1 4C98B248
P 7500 5500
F 0 "J17" H 7300 5700 60  0000 C CNN
F 1 "HEADER_4" H 7500 5500 60  0000 C CNN
	1    7500 5500
	1    0    0    -1  
$EndComp
Text GLabel 9100 1900 2    20   BiDi ~ 0
VSERVOS
Text Label 3300 4750 0    20   ~ 0
3.3V
Text Label 3300 4700 0    20   ~ 0
5V
Text Label 3300 4650 0    20   ~ 0
VMOTOR
Text Label 3300 4600 0    20   ~ 0
VMAIN
Text Notes 8150 5850 0    60   ~ 0
TO IR LEDS, PHOTODIODES
Text Notes 7850 4400 0    60   ~ 0
TO ENCODER right wheel
Text Notes 7850 3800 0    60   ~ 0
TO ENCODER left wheel
Text Notes 6700 3100 0    60   ~ 0
TO GPS RS-232
Text Notes 8650 2500 0    60   ~ 0
TO SERVOS 3,4
Text Notes 7150 2500 0    60   ~ 0
TO SERVOS 1,2
Text Notes 8550 1800 0    20   ~ 0
FROM ANOTHER BATTERY (LIPO OR WHATEVER)\nVoltage limits depends on the servo; usuallly 5-6V
Text Notes 7550 1800 0    20   ~ 0
FROM ANOTHER BATTERY (LIPO OR WHATEVER)\nh-bridge supports from 2.0 - 6.8 Volts
Text Notes 6600 1800 0    20   ~ 0
FROM BATTERY (LIPO OR WHATEVER)\nideal: 3.7V input
Text Notes 8250 1250 0    60   ~ 0
RIGHT MOTOR CONN
Text Notes 6750 1250 0    60   ~ 0
LEFT MOTOR CONN
Text Notes 2050 3150 0    20   ~ 0
Pin 13 is the same of input button SW2
Text Notes 2050 3100 0    20   ~ 0
Pin 12 is the same of input button SW1
Text Notes 2250 6000 0    60   ~ 0
DIGITAL INPUT BUTTONS
Text Notes 1850 5400 0    60   ~ 0
POWER LED
Text Notes 2500 3550 0    60   ~ 0
ALL ANALOG PINS (0 ... 7)
Text Notes 2500 2950 0    60   ~ 0
FREE DIGITAL PINS (12 ... 23)
Text Notes 4700 1450 0    60   ~ 0
FROM ENCODER SIGNALS
Text Notes 3000 1450 0    60   ~ 0
TO H-BRIDGE CONTROL PINS
Text GLabel 5250 1600 2    20   BiDi ~ 0
DIG11
Text GLabel 5250 1750 2    20   BiDi ~ 0
DIG12
Text GLabel 5250 1700 2    20   BiDi ~ 0
DIG13
Text Label 5000 1650 0    20   ~ 0
ENC_SIGNAL_2
Text Label 5000 1700 0    20   ~ 0
ENC_SIGNAL_3
Text Label 5000 1750 0    20   ~ 0
ENC_SIGNAL_4
Text Label 5000 1600 0    20   ~ 0
ENC_SIGNAL_1
Entry Wire Line
	4850 1550 4950 1650
Entry Wire Line
	4850 1650 4950 1750
Entry Wire Line
	4850 1600 4950 1700
Entry Wire Line
	4850 1500 4950 1600
Text HLabel 4700 1950 0    20   BiDi ~ 0
ENC_SIGNALS[0..3]
Text GLabel 5250 1650 2    20   BiDi ~ 0
DIG10
Text Label 6700 4350 0    20   ~ 0
RIGHT_ENCODER_2
Text Label 6700 4300 0    20   ~ 0
RIGHT_ENCODER_1
Text Label 6700 4250 0    20   ~ 0
LEFT_ENCODER_2
Text Label 6700 4200 0    20   ~ 0
LEFT_ENCODER_1
Text GLabel 7000 4350 2    20   BiDi ~ 0
RIGHT_ENCODER_2
Text GLabel 7000 4300 2    20   BiDi ~ 0
RIGHT_ENCODER_1
Text GLabel 7000 4250 2    20   BiDi ~ 0
LEFT_ENCODER_2
Entry Wire Line
	6600 4150 6700 4250
Entry Wire Line
	6600 4250 6700 4350
Entry Wire Line
	6600 4200 6700 4300
Entry Wire Line
	6600 4100 6700 4200
Text HLabel 6450 4550 0    20   BiDi ~ 0
ENC[0..3]
Text GLabel 7000 4200 2    20   BiDi ~ 0
LEFT_ENCODER_1
Text Notes 6550 5150 0    60   ~ 0
TO I2C DEVICE
Text Notes 8800 5150 0    20   ~ 0
TO ANOTHER DEVICE
$Comp
L HEADER_4X2 J15
U 1 1 4C96AA49
P 7700 4800
F 0 "J15" H 7600 5300 60  0000 C CNN
F 1 "HEADER_4X2" H 7700 4800 40  0000 C CNN
	1    7700 4800
	-1   0    0    -1  
$EndComp
Text GLabel 8250 4500 2    20   BiDi ~ 0
3.3V
Text GLabel 8250 4600 2    20   BiDi ~ 0
3.3V
Text GLabel 7100 4550 0    20   BiDi ~ 0
3.3V
Text GLabel 7100 4650 0    20   BiDi ~ 0
3.3V
$Comp
L R R8
U 1 1 4C96AA48
P 8650 4550
F 0 "R8" V 8730 4550 50  0000 C CNN
F 1 "150" V 8650 4550 50  0000 C CNN
	1    8650 4550
	0    -1   -1   0   
$EndComp
$Comp
L R R9
U 1 1 4C96AA47
P 8650 4650
F 0 "R9" V 8730 4650 50  0000 C CNN
F 1 "150" V 8650 4650 50  0000 C CNN
	1    8650 4650
	0    1    1    0   
$EndComp
Text GLabel 9000 4550 2    20   BiDi ~ 0
GND
Text GLabel 9000 4650 2    20   BiDi ~ 0
GND
Text Label 7150 4500 0    20   ~ 0
RIGHT_ENCODER_1
Text Label 7150 4600 0    20   ~ 0
RIGHT_ENCODER_2
Text Label 7150 4000 0    20   ~ 0
LEFT_ENCODER_2
Text Label 7150 3900 0    20   ~ 0
LEFT_ENCODER_1
Text GLabel 9000 4050 2    20   BiDi ~ 0
GND
Text GLabel 9000 3950 2    20   BiDi ~ 0
GND
$Comp
L R R7
U 1 1 4C96A99C
P 8650 4050
F 0 "R7" V 8730 4050 50  0000 C CNN
F 1 "150" V 8650 4050 50  0000 C CNN
	1    8650 4050
	0    1    1    0   
$EndComp
$Comp
L R R6
U 1 1 4C96A993
P 8650 3950
F 0 "R6" V 8730 3950 50  0000 C CNN
F 1 "150" V 8650 3950 50  0000 C CNN
	1    8650 3950
	0    -1   -1   0   
$EndComp
Text GLabel 7100 4050 0    20   BiDi ~ 0
3.3V
Text GLabel 7100 3950 0    20   BiDi ~ 0
3.3V
Text GLabel 8250 4000 2    20   BiDi ~ 0
3.3V
Text GLabel 8250 3900 2    20   BiDi ~ 0
3.3V
$Comp
L HEADER_4X2 J14
U 1 1 4C96A8DC
P 7700 4200
F 0 "J14" H 7600 4700 60  0000 C CNN
F 1 "HEADER_4X2" H 7700 4200 40  0000 C CNN
	1    7700 4200
	-1   0    0    -1  
$EndComp
Text GLabel 7100 3200 2    20   BiDi ~ 0
3.3V
$Comp
L HEADER_5 J9
U 1 1 4C96A85D
P 6600 3250
F 0 "J9" H 6400 3250 60  0000 C CNN
F 1 "HEADER_5" H 6600 3000 60  0000 C CNN
	1    6600 3250
	1    0    0    -1  
$EndComp
Text Notes 9400 4200 0    60   ~ 0
ENCODERS
Text GLabel 6750 6150 0    20   BiDi ~ 0
GND
Text GLabel 6750 5950 0    20   BiDi ~ 0
GND
$Comp
L R R5
U 1 1 4C91659B
P 7150 6150
F 0 "R5" V 7230 6150 50  0000 C CNN
F 1 "1K" V 7150 6150 50  0000 C CNN
	1    7150 6150
	0    1    1    0   
$EndComp
$Comp
L R R4
U 1 1 4C916588
P 7150 5950
F 0 "R4" V 7230 5950 50  0000 C CNN
F 1 "1K" V 7150 5950 50  0000 C CNN
	1    7150 5950
	0    1    1    0   
$EndComp
Text GLabel 7100 3350 2    20   BiDi ~ 0
GND
Text Label 7100 3300 2    20   ~ 0
RX1_JZ4725
Text Label 7100 3250 2    20   ~ 0
TX1_JZ4725
Text GLabel 7100 3150 2    20   BiDi ~ 0
5V
Text GLabel 8650 6050 2    20   BiDi ~ 0
5V
Text GLabel 8650 6100 2    20   BiDi ~ 0
5V
Text Label 7550 6050 0    20   ~ 0
GNDIR_LED_0
Text Label 7550 6100 0    20   ~ 0
GNDIR_LED_1
Text HLabel 8850 2100 2    20   BiDi ~ 0
GND
$Comp
L HEADER_2 J19
U 1 1 4C7596E6
P 8400 2150
F 0 "J19" H 8150 2350 60  0000 C CNN
F 1 "HEADER_2" H 8400 2150 60  0000 C CNN
	1    8400 2150
	1    0    0    -1  
$EndComp
Text Label 9050 1900 2    20   ~ 0
VSERVOS
Text GLabel 8850 2000 2    20   BiDi ~ 0
GND
$Comp
L HEADER_3X2 J20
U 1 1 4C7593B3
P 8550 2600
F 0 "J20" H 8400 2750 60  0000 C CNN
F 1 "HEADER_3X2" H 8600 2400 60  0000 C CNN
	1    8550 2600
	1    0    0    -1  
$EndComp
$Comp
L HEADER_3X2 J11
U 1 1 4C75936B
P 7050 2600
F 0 "J11" H 6900 2750 60  0000 C CNN
F 1 "HEADER_3X2" H 7100 2400 60  0000 C CNN
	1    7050 2600
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J5
U 1 1 4C753CB1
P 3050 4000
F 0 "J5" H 2850 4200 60  0000 C CNN
F 1 "HEADER_4" H 3050 4000 60  0000 C CNN
	1    3050 4000
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J2
U 1 1 4C753CAD
P 1550 4000
F 0 "J2" H 1350 4200 60  0000 C CNN
F 1 "HEADER_4" H 1550 4000 60  0000 C CNN
	1    1550 4000
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J6
U 1 1 4C753C2F
P 4500 3400
F 0 "J6" H 4300 3600 60  0000 C CNN
F 1 "HEADER_4" H 4500 3400 60  0000 C CNN
	1    4500 3400
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J4
U 1 1 4C753C2B
P 3000 3400
F 0 "J4" H 2800 3600 60  0000 C CNN
F 1 "HEADER_4" H 3000 3400 60  0000 C CNN
	1    3000 3400
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J1
U 1 1 4C753B87
P 1550 3400
F 0 "J1" H 1350 3600 60  0000 C CNN
F 1 "HEADER_4" H 1550 3400 60  0000 C CNN
	1    1550 3400
	1    0    0    -1  
$EndComp
$Comp
L HEADER_2 J8
U 1 1 4C75378C
P 6600 1550
F 0 "J8" H 6350 1750 60  0000 C CNN
F 1 "HEADER_2" H 6600 1550 60  0000 C CNN
	1    6600 1550
	1    0    0    -1  
$EndComp
$Comp
L HEADER_2 J16
U 1 1 4C753787
P 8100 1550
F 0 "J16" H 7850 1750 60  0000 C CNN
F 1 "HEADER_2" H 8100 1550 60  0000 C CNN
	1    8100 1550
	1    0    0    -1  
$EndComp
Text GLabel 2650 5600 2    20   BiDi ~ 0
GND
$Comp
L R R1
U 1 1 4C7404B5
P 1850 5600
F 0 "R1" V 1930 5600 50  0000 C CNN
F 1 "330" V 1850 5600 50  0000 C CNN
	1    1850 5600
	0    1    1    0   
$EndComp
Text GLabel 1550 5600 0    20   BiDi ~ 0
5V
$Comp
L LED D1
U 1 1 4C7404A1
P 2350 5600
F 0 "D1" H 2350 5700 50  0000 C CNN
F 1 "LED" H 2350 5500 50  0000 C CNN
	1    2350 5600
	1    0    0    -1  
$EndComp
$Comp
L SW_PUSH SW1
U 1 1 4C740223
P 2400 6250
F 0 "SW1" H 2550 6360 50  0000 C CNN
F 1 "SW_PUSH" H 2400 6170 50  0000 C CNN
	1    2400 6250
	1    0    0    -1  
$EndComp
Text GLabel 2000 6250 0    20   BiDi ~ 0
GND
$Comp
L R R2
U 1 1 4C740222
P 3150 6250
F 0 "R2" V 3230 6250 50  0000 C CNN
F 1 "4.7K" V 3150 6250 50  0000 C CNN
	1    3150 6250
	0    1    1    0   
$EndComp
Text GLabel 3500 6250 2    20   BiDi ~ 0
3.3V
Text Label 3000 6100 2    20   ~ 0
DIG6
Text Label 3000 6500 2    20   ~ 0
DIG7
Text GLabel 3500 6650 2    20   BiDi ~ 0
3.3V
$Comp
L R R3
U 1 1 4C740221
P 3150 6650
F 0 "R3" V 3230 6650 50  0000 C CNN
F 1 "4.7K" V 3150 6650 50  0000 C CNN
	1    3150 6650
	0    1    1    0   
$EndComp
Text GLabel 2000 6650 0    20   BiDi ~ 0
GND
$Comp
L SW_PUSH SW2
U 1 1 4C740220
P 2400 6650
F 0 "SW2" H 2550 6760 50  0000 C CNN
F 1 "SW_PUSH" H 2400 6570 50  0000 C CNN
	1    2400 6650
	1    0    0    -1  
$EndComp
Text Notes 9450 6150 0    60   ~ 0
IR ANALOG
Text GLabel 8150 6700 0    20   BiDi ~ 0
ANALOG1
Text GLabel 8150 6650 0    20   BiDi ~ 0
ANALOG0
Text GLabel 9000 6700 0    20   BiDi ~ 0
IRANODE1
Text GLabel 9000 6650 0    20   BiDi ~ 0
IRANODE0
Text Label 9250 6650 2    20   ~ 0
IRANODE0
Text Label 9250 6700 2    20   ~ 0
IRANODE1
Text Label 8350 6650 2    20   ~ 0
ANALOG0
Text Label 8350 6700 2    20   ~ 0
ANALOG1
Text Label 7800 6600 2    20   ~ 0
IRANODE1
Text Label 7800 6550 2    20   ~ 0
IRANODE0
Entry Wire Line
	7450 6450 7550 6550
Entry Wire Line
	7450 6500 7550 6600
Text HLabel 7350 6750 0    20   BiDi ~ 0
IRANODE[0..1]
Text Label 6900 6600 2    20   ~ 0
ANALOG1
Text Label 6900 6550 2    20   ~ 0
ANALOG0
Text HLabel 6500 6750 0    20   BiDi ~ 0
ANALOG[0..1]
Entry Wire Line
	6600 6500 6700 6600
Entry Wire Line
	6600 6450 6700 6550
Text Label 7550 6000 0    20   ~ 0
IRANODE1
Text Label 7550 5950 0    20   ~ 0
IRANODE0
Text GLabel 8650 6000 2    20   BiDi ~ 0
3.3V
Text GLabel 8650 5950 2    20   BiDi ~ 0
3.3V
$Comp
L HEADER_4X2 J18
U 1 1 4C73D7C1
P 8100 6250
F 0 "J18" H 8000 6750 60  0000 C CNN
F 1 "HEADER_4X2" H 8100 6250 40  0000 C CNN
	1    8100 6250
	1    0    0    -1  
$EndComp
Text Notes 9450 5300 0    60   ~ 0
I2C_JZ4725
Text Label 8000 5250 2    20   ~ 0
JZ4725_SCK
Text Label 8000 5200 2    20   ~ 0
JZ4725_SDA
Text Notes 8500 3300 0    60   ~ 0
SIE 5V SUPPLY
Text Label 6950 5300 2    20   ~ 0
JZ4725_SCK
Text Label 6950 5250 2    20   ~ 0
JZ4725_SDA
Text GLabel 8100 2650 0    20   BiDi ~ 0
GND
Text GLabel 9050 2650 2    20   BiDi ~ 0
GND
Text GLabel 8250 3300 2    20   BiDi ~ 0
5V
Text GLabel 6600 2650 0    20   BiDi ~ 0
GND
Text GLabel 7000 5350 2    20   BiDi ~ 0
GND
Text GLabel 7000 5200 2    20   BiDi ~ 0
3.3V
$Comp
L HEADER_4 J10
U 1 1 4C72762C
P 6450 5500
F 0 "J10" H 6250 5700 60  0000 C CNN
F 1 "HEADER_4" H 6450 5500 60  0000 C CNN
	1    6450 5500
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J13
U 1 1 4C71CE1F
P 7750 3450
F 0 "J13" H 7550 3650 60  0000 C CNN
F 1 "HEADER_4" H 7750 3450 60  0000 C CNN
	1    7750 3450
	1    0    0    -1  
$EndComp
Text Label 8250 3200 2    20   ~ 0
TX1_JZ4725
Text Label 8250 3250 2    20   ~ 0
RX1_JZ4725
Text GLabel 8250 3150 2    20   BiDi ~ 0
3.3V
Text Notes 9400 3250 0    60   ~ 0
UART (GPS/ultrasonic)\nSUPPLY TO SIE (5V)
Text Notes 9400 2650 0    60   ~ 0
SERVOS
Text Notes 9400 2000 0    60   ~ 0
SUPPLY
Text Notes 9400 1400 0    60   ~ 0
MOTOR OUTPUTS
Text GLabel 7550 2650 2    20   BiDi ~ 0
GND
Text Label 6500 2550 0    20   ~ 0
DIG4
Text Label 7650 2550 2    20   ~ 0
DIG5
Text Label 8000 2550 0    20   ~ 0
DIG2
Text Label 9150 2550 2    20   ~ 0
DIG3
Text Label 9050 2550 2    20   ~ 0
SERVO_D
Text Label 8100 2550 0    20   ~ 0
SERVO_C
Text Label 7500 2550 2    20   ~ 0
SERVO_B
Text Label 8100 2600 0    20   ~ 0
VSERVOS
Text Label 7500 2600 2    20   ~ 0
VSERVOS
Text Label 9050 2600 2    20   ~ 0
VSERVOS
Text Label 6650 2550 0    20   ~ 0
SERVO_A
Text Label 6650 2600 0    20   ~ 0
VSERVOS
Text GLabel 3250 4600 0    20   BiDi ~ 0
VMAIN
Text HLabel 3450 4600 2    20   BiDi ~ 0
VMAIN
Text GLabel 7850 2000 2    20   BiDi ~ 0
GND
Text Label 7850 1900 0    20   ~ 0
VMOTOR
$Comp
L HEADER_2 J12
U 1 1 4C703269
P 7400 2150
F 0 "J12" H 7150 2350 60  0000 C CNN
F 1 "HEADER_2" H 7400 2150 60  0000 C CNN
	1    7400 2150
	1    0    0    -1  
$EndComp
Text HLabel 7850 2100 2    20   BiDi ~ 0
GND
Text HLabel 8100 1900 2    20   BiDi ~ 0
VMOTOR
Text GLabel 3800 1700 2    20   BiDi ~ 0
MOTR_A_IN
Text GLabel 3800 1750 2    20   BiDi ~ 0
MOTR_B_IN
Text GLabel 3800 1650 2    20   BiDi ~ 0
MOTL_B_IN
Text GLabel 3800 1600 2    20   BiDi ~ 0
MOTL_A_IN
Text HLabel 3450 4650 2    20   BiDi ~ 0
VMOTOR
Text GLabel 3250 4650 0    20   BiDi ~ 0
VMOTOR
Text GLabel 3250 4700 0    20   BiDi ~ 0
5V
Text HLabel 3450 4700 2    20   BiDi ~ 0
5V
Text HLabel 3250 1950 0    20   BiDi ~ 0
DIG[0..3]
Entry Wire Line
	3400 1500 3500 1600
Entry Wire Line
	3400 1600 3500 1700
Entry Wire Line
	3400 1650 3500 1750
Entry Wire Line
	3400 1550 3500 1650
Text GLabel 3250 4800 0    20   BiDi ~ 0
GND
Text HLabel 3450 4800 2    20   BiDi ~ 0
GND
Text HLabel 3450 4750 2    20   BiDi ~ 0
3.3V
Text GLabel 3250 4750 0    20   BiDi ~ 0
3.3V
Text HLabel 7150 1900 2    20   BiDi ~ 0
VMAIN
Text HLabel 6900 2100 2    20   BiDi ~ 0
GND
Text HLabel 8950 1400 2    20   BiDi ~ 0
MOTR_B
Text HLabel 8950 1300 2    20   BiDi ~ 0
MOTR_A
Text HLabel 7450 1400 2    20   BiDi ~ 0
MOTL_B
Text HLabel 7450 1300 2    20   BiDi ~ 0
MOTL_A
Text Label 3550 1750 0    20   ~ 0
DIG14
Text Label 3550 1700 0    20   ~ 0
DIG15
Text Label 3550 1650 0    20   ~ 0
DIG1
Text Label 3550 1600 0    20   ~ 0
DIG0
Text GLabel 2350 2050 2    20   BiDi ~ 0
GND
Text GLabel 1550 1450 0    20   BiDi ~ 0
GND
Text GLabel 2350 2100 2    20   BiDi ~ 0
3.3V
Text GLabel 2350 2150 2    20   BiDi ~ 0
3.3V
Text GLabel 1550 2100 0    20   BiDi ~ 0
3.3V
Text GLabel 1550 2150 0    20   BiDi ~ 0
3.3V
Text Label 2450 1450 2    20   ~ 0
DIG13
Text Label 2450 1500 2    20   ~ 0
DIG11
Text Label 2450 1550 2    20   ~ 0
DIG9
Text Label 2450 1600 2    20   ~ 0
DIG7
Text Label 2450 1650 2    20   ~ 0
DIG5
Text Label 2450 1700 2    20   ~ 0
DIG3
Text Label 2450 1750 2    20   ~ 0
DIG1
Text Label 2450 1800 2    20   ~ 0
DIG14
Text Label 2450 1850 2    20   ~ 0
DIG16
Text Label 2450 1950 2    20   ~ 0
DIG20
Text Label 2450 2000 2    20   ~ 0
DIG22
Text Label 2450 1900 2    20   ~ 0
DIG18
Text Label 2500 2200 2    20   ~ 0
ANALOG7
Text Label 2500 2250 2    20   ~ 0
ANALOG5
Text Label 2500 2300 2    20   ~ 0
ANALOG3
Text Label 2500 2350 2    20   ~ 0
ANALOG1
Text Label 2500 2400 2    20   ~ 0
AN_GND
Text Label 1400 2400 0    20   ~ 0
AN_GND
Text Label 1400 2350 0    20   ~ 0
ANALOG0
Text Label 1400 2300 0    20   ~ 0
ANALOG2
Text Label 1400 2250 0    20   ~ 0
ANALOG4
Text Label 1400 2200 0    20   ~ 0
ANALOG6
Text Label 1450 2050 0    20   ~ 0
DIG23
Text Label 1450 2000 0    20   ~ 0
DIG21
Text Label 1450 1950 0    20   ~ 0
DIG19
Text Label 1450 1900 0    20   ~ 0
DIG17
Text Label 1450 1850 0    20   ~ 0
DIG15
Text Label 1450 1800 0    20   ~ 0
DIG0
Text Label 1450 1750 0    20   ~ 0
DIG2
Text Label 1450 1700 0    20   ~ 0
DIG4
Text Label 1450 1650 0    20   ~ 0
DIG6
Text Label 1450 1600 0    20   ~ 0
DIG8
Text Label 1450 1550 0    20   ~ 0
DIG10
Text Label 1450 1500 0    20   ~ 0
DIG12
Text Label 2000 3100 2    20   ~ 0
DIG9
Text Label 2000 3250 2    20   ~ 0
DIG6
Text Label 4950 3100 2    20   ~ 0
DIG17
Text Label 4950 3150 2    20   ~ 0
DIG19
Text Label 4950 3200 2    20   ~ 0
DIG21
Text Label 4950 3250 2    20   ~ 0
DIG23
Text Label 2050 3850 2    20   ~ 0
ANALOG6
Text Label 2050 3800 2    20   ~ 0
ANALOG4
Text Label 2050 3750 2    20   ~ 0
ANALOG2
Text Label 2050 3700 2    20   ~ 0
ANALOG0
Text Label 3550 3700 2    20   ~ 0
ANALOG1
Text Label 3550 3750 2    20   ~ 0
ANALOG3
Text Label 3550 3800 2    20   ~ 0
ANALOG5
Text Label 3550 3850 2    20   ~ 0
ANALOG7
Text Label 3450 3250 2    20   ~ 0
DIG22
Text Label 3450 3200 2    20   ~ 0
DIG20
Text Label 3450 3150 2    20   ~ 0
DIG18
Text Label 3450 3100 2    20   ~ 0
DIG16
Text Label 2000 3200 2    20   ~ 0
DIG7
Text Label 2000 3150 2    20   ~ 0
DIG8
$Comp
L HEADER_20X2 J3
U 1 1 4C5F3291
P 2000 2550
F 0 "J3" H 1850 3800 60  0000 C CNN
F 1 "HEADER_20X2" H 2000 2550 60  0000 C CNN
	1    2000 2550
	1    0    0    -1  
$EndComp
Text Label 7000 1300 0    20   ~ 0
MOTL_A
Text Label 7000 1400 0    20   ~ 0
MOTL_B
Text Label 8500 1300 0    20   ~ 0
MOTR_A
Text Label 8500 1400 0    20   ~ 0
MOTR_B
$Comp
L HEADER_2 J7
U 1 1 4C5F328F
P 6450 2150
F 0 "J7" H 6200 2350 60  0000 C CNN
F 1 "HEADER_2" H 6450 2150 60  0000 C CNN
	1    6450 2150
	1    0    0    -1  
$EndComp
Text Label 6900 1900 0    20   ~ 0
VMAIN
Text GLabel 6900 2000 2    20   BiDi ~ 0
GND
$EndSCHEMATC