EESchema Schematic File Version 2  date jue 26 ago 2010 00:05:28 COT
LIBS:headers
LIBS:w_connectors
LIBS:bc849
LIBS:mpc17529
LIBS:power
LIBS:device
LIBS:conn
LIBS:linear
LIBS:regul
LIBS:74xx
LIBS:cmos4000
LIBS:adc-dac
LIBS:memory
LIBS:xilinx
LIBS:special
LIBS:microcontrollers
LIBS:dsp
LIBS:microchip
LIBS:analog_switches
LIBS:motorola
LIBS:texas
LIBS:intel
LIBS:audio
LIBS:interface
LIBS:digital-audio
LIBS:philips
LIBS:display
LIBS:cypress
LIBS:siliconi
LIBS:contrib
LIBS:valves
LIBS:dc-dc
LIBS:SIE_power_module-cache
EELAYER 24  0
EELAYER END
$Descr A4 11700 8267
Sheet 3 4
Title ""
Date "26 aug 2010"
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
Wire Wire Line
	7100 2550 7450 2550
Wire Wire Line
	6750 2550 6400 2550
Wire Wire Line
	5750 2600 5950 2600
Wire Wire Line
	4450 3850 4650 3850
Wire Wire Line
	4450 3750 4550 3750
Wire Wire Line
	4850 6700 4900 6700
Wire Wire Line
	1500 6650 1400 6650
Wire Wire Line
	2900 6650 2800 6650
Wire Wire Line
	2100 6650 2300 6650
Wire Wire Line
	2400 6500 2200 6500
Wire Wire Line
	2200 6500 2200 6650
Connection ~ 2200 6650
Connection ~ 2200 7050
Wire Wire Line
	2200 7050 2200 6900
Wire Wire Line
	2200 6900 2400 6900
Wire Wire Line
	2100 7050 2300 7050
Wire Wire Line
	2900 7050 2800 7050
Wire Wire Line
	1500 7050 1400 7050
Wire Wire Line
	1500 6250 1400 6250
Wire Wire Line
	2900 6250 2800 6250
Wire Wire Line
	2100 6250 2300 6250
Wire Wire Line
	2400 6100 2200 6100
Wire Wire Line
	2200 6100 2200 6250
Connection ~ 2200 6250
Connection ~ 2200 5850
Wire Wire Line
	2200 5850 2200 5700
Wire Wire Line
	2200 5700 2400 5700
Wire Wire Line
	2100 5850 2300 5850
Wire Notes Line
	5250 5850 5250 5150
Wire Notes Line
	5250 5850 8450 5850
Wire Notes Line
	8450 5850 8450 5150
Wire Notes Line
	8450 5150 5250 5150
Wire Wire Line
	7150 3900 7500 3900
Wire Wire Line
	7150 4000 7500 4000
Wire Wire Line
	6700 3950 6300 3950
Wire Wire Line
	10400 5950 10150 5950
Wire Wire Line
	10400 5800 10150 5800
Wire Wire Line
	10400 5900 10150 5900
Wire Wire Line
	10400 5850 10150 5850
Wire Wire Line
	9300 5950 9500 5950
Wire Wire Line
	9300 5850 9500 5850
Wire Wire Line
	9500 5800 9300 5800
Wire Wire Line
	9500 5900 9300 5900
Wire Wire Line
	10400 5400 10150 5400
Wire Wire Line
	10400 5450 10150 5450
Wire Wire Line
	10400 5350 10150 5350
Wire Wire Line
	9500 5450 9300 5450
Wire Wire Line
	9500 5350 9300 5350
Wire Wire Line
	7150 5550 7400 5550
Wire Wire Line
	7150 5450 7400 5450
Wire Wire Line
	8250 5550 7900 5550
Wire Wire Line
	8250 5450 7900 5450
Wire Wire Line
	5500 5600 5850 5600
Wire Wire Line
	5500 5500 5850 5500
Wire Wire Line
	6700 5600 6350 5600
Wire Wire Line
	6700 5500 6350 5500
Wire Wire Line
	6800 4700 7050 4700
Wire Wire Line
	7100 4650 6800 4650
Wire Wire Line
	6800 4800 7100 4800
Wire Wire Line
	6800 4750 7050 4750
Wire Wire Line
	5850 4750 6100 4750
Wire Wire Line
	8250 4750 7900 4750
Wire Wire Line
	5850 4800 6150 4800
Connection ~ 9850 3950
Wire Wire Line
	9950 3950 9850 3950
Connection ~ 9350 3650
Wire Wire Line
	9450 3650 9350 3650
Wire Wire Line
	9350 3750 9350 3550
Wire Wire Line
	6100 3300 5600 3300
Wire Wire Line
	6100 3200 5600 3200
Wire Wire Line
	6100 3150 5600 3150
Wire Wire Line
	6100 3250 5600 3250
Wire Wire Line
	6850 3300 6600 3300
Wire Wire Line
	6850 3200 6600 3200
Wire Wire Line
	6600 3250 6850 3250
Wire Notes Line
	8450 3550 8450 3000
Wire Notes Line
	8450 3550 5250 3550
Wire Notes Line
	5250 3550 5250 3000
Wire Wire Line
	8050 3300 7800 3300
Wire Wire Line
	8050 3200 7800 3200
Wire Wire Line
	7800 3250 8050 3250
Wire Notes Line
	5250 3000 8450 3000
Wire Notes Line
	8450 1700 5250 1700
Wire Notes Line
	8450 1700 8450 2250
Wire Notes Line
	8450 2250 5250 2250
Wire Notes Line
	5250 2250 5250 1700
Wire Notes Line
	5250 1100 5250 1650
Wire Wire Line
	6400 2650 6650 2650
Wire Wire Line
	7900 2650 8150 2650
Wire Wire Line
	7450 2600 7200 2600
Wire Wire Line
	8150 2600 7900 2600
Wire Wire Line
	3450 4600 3250 4600
Wire Wire Line
	7200 1900 6800 1900
Wire Wire Line
	6950 2000 6800 2000
Wire Wire Line
	6950 2100 6900 2100
Wire Wire Line
	6900 2100 6900 2000
Connection ~ 6900 2000
Wire Wire Line
	2550 4900 2250 4900
Wire Wire Line
	2550 4800 2250 4800
Wire Wire Line
	3450 4650 3250 4650
Wire Wire Line
	3450 4700 3250 4700
Wire Bus Line
	2000 5100 2150 5100
Wire Bus Line
	2150 5100 2150 4650
Connection ~ 5950 2000
Wire Wire Line
	5950 2000 5950 2100
Wire Wire Line
	5950 2100 6000 2100
Wire Wire Line
	8050 1400 7500 1400
Wire Wire Line
	6550 1400 6000 1400
Wire Wire Line
	3500 1850 3250 1850
Wire Wire Line
	2850 3250 3050 3250
Wire Wire Line
	4350 3300 4550 3300
Wire Wire Line
	4350 3200 4550 3200
Wire Wire Line
	2850 3150 3050 3150
Wire Wire Line
	1400 2750 1600 2750
Wire Wire Line
	1400 2650 1600 2650
Wire Wire Line
	2850 2750 3050 2750
Wire Wire Line
	2850 2650 3050 2650
Wire Wire Line
	1400 3250 1600 3250
Wire Wire Line
	1400 3150 1600 3150
Wire Wire Line
	4350 2750 4550 2750
Wire Wire Line
	4350 2650 4550 2650
Wire Wire Line
	3150 3850 2900 3850
Wire Wire Line
	3150 3750 2900 3750
Wire Wire Line
	1650 3850 1400 3850
Wire Wire Line
	1650 3750 1400 3750
Wire Wire Line
	2450 1450 2650 1450
Wire Wire Line
	2450 1350 2650 1350
Wire Wire Line
	2450 1250 2650 1250
Wire Wire Line
	2450 1150 2650 1150
Wire Wire Line
	2450 1050 2650 1050
Wire Wire Line
	2450 950  2650 950 
Wire Wire Line
	2650 1800 2400 1800
Wire Wire Line
	2650 1700 2400 1700
Wire Wire Line
	3500 1800 3250 1800
Wire Wire Line
	3500 1700 3250 1700
Wire Wire Line
	3450 1450 3250 1450
Wire Wire Line
	3450 1350 3250 1350
Wire Wire Line
	3450 1250 3250 1250
Wire Wire Line
	3450 1150 3250 1150
Wire Wire Line
	3450 1050 3250 1050
Wire Wire Line
	3450 950  3250 950 
Wire Wire Line
	3250 1600 3350 1600
Wire Wire Line
	3250 1500 3350 1500
Wire Wire Line
	2550 1550 2650 1550
Wire Wire Line
	4450 3900 4550 3900
Wire Wire Line
	2550 900  2650 900 
Wire Wire Line
	2550 1600 2650 1600
Wire Wire Line
	3350 1550 3250 1550
Wire Wire Line
	3250 900  3450 900 
Wire Wire Line
	3250 1000 3450 1000
Wire Wire Line
	3250 1100 3450 1100
Wire Wire Line
	3250 1200 3450 1200
Wire Wire Line
	3250 1300 3450 1300
Wire Wire Line
	3250 1400 3450 1400
Wire Wire Line
	3250 1650 3500 1650
Wire Wire Line
	3250 1750 3500 1750
Wire Wire Line
	2400 1650 2650 1650
Wire Wire Line
	2400 1750 2650 1750
Wire Wire Line
	2400 1850 2650 1850
Wire Wire Line
	2650 1000 2450 1000
Wire Wire Line
	2650 1100 2450 1100
Wire Wire Line
	2650 1200 2450 1200
Wire Wire Line
	2650 1300 2450 1300
Wire Wire Line
	2650 1400 2450 1400
Wire Wire Line
	2650 1500 2450 1500
Wire Wire Line
	1400 3800 1650 3800
Wire Wire Line
	1400 3900 1650 3900
Wire Wire Line
	2900 3800 3150 3800
Wire Wire Line
	2900 3900 3150 3900
Wire Wire Line
	4550 2700 4350 2700
Wire Wire Line
	4550 2800 4350 2800
Wire Wire Line
	1600 3200 1400 3200
Wire Wire Line
	1600 3300 1400 3300
Wire Wire Line
	3050 2700 2850 2700
Wire Wire Line
	3050 2800 2850 2800
Wire Wire Line
	1600 2700 1400 2700
Wire Wire Line
	1600 2800 1400 2800
Wire Wire Line
	4550 3150 4350 3150
Wire Wire Line
	4550 3250 4350 3250
Wire Wire Line
	3050 3200 2850 3200
Wire Wire Line
	3050 3300 2850 3300
Wire Wire Line
	6000 2000 5850 2000
Wire Wire Line
	6550 1300 6000 1300
Wire Wire Line
	8050 1300 7500 1300
Wire Wire Line
	6250 1900 5850 1900
Wire Wire Line
	3450 4750 3250 4750
Wire Wire Line
	3450 4800 3250 4800
Wire Wire Line
	2550 4750 2250 4750
Wire Wire Line
	2550 4850 2250 4850
Wire Wire Line
	7450 2650 7200 2650
Wire Wire Line
	5950 2650 5700 2650
Wire Notes Line
	5250 1100 8450 1100
Wire Notes Line
	8450 1100 8450 1650
Wire Notes Line
	8450 1650 5250 1650
Wire Notes Line
	8450 2350 5250 2350
Wire Notes Line
	8450 2350 8450 2900
Wire Notes Line
	8450 2900 5250 2900
Wire Notes Line
	5250 2900 5250 2350
Wire Notes Line
	8450 4250 5250 4250
Wire Notes Line
	8450 4250 8450 3700
Wire Notes Line
	8450 3700 5250 3700
Wire Notes Line
	5250 3700 5250 4250
Wire Wire Line
	9350 4400 9350 4150
Wire Wire Line
	9850 4050 9850 3850
Wire Wire Line
	9850 4700 9850 4450
Wire Wire Line
	10050 3650 9950 3650
Wire Wire Line
	10550 3950 10450 3950
Wire Wire Line
	6150 4650 5850 4650
Wire Wire Line
	8250 4650 7900 4650
Wire Wire Line
	7000 3150 6600 3150
Wire Wire Line
	5850 4700 6100 4700
Wire Notes Line
	8450 5050 5250 5050
Wire Notes Line
	8450 5050 8450 4400
Wire Notes Line
	8450 4400 5250 4400
Wire Notes Line
	5250 4400 5250 5050
Wire Wire Line
	6700 5450 6350 5450
Wire Wire Line
	6700 5550 6350 5550
Wire Wire Line
	5500 5450 5850 5450
Wire Wire Line
	5850 5550 5500 5550
Wire Wire Line
	8250 5500 7900 5500
Wire Wire Line
	8250 5600 7900 5600
Wire Wire Line
	7400 5500 7150 5500
Wire Wire Line
	7150 5600 7400 5600
Wire Bus Line
	9100 5550 9200 5550
Wire Bus Line
	9200 5550 9200 5250
Wire Wire Line
	9300 5400 9500 5400
Wire Wire Line
	9300 5500 9500 5500
Wire Bus Line
	10050 5250 10050 5550
Wire Bus Line
	10050 5550 9950 5550
Wire Wire Line
	10400 5500 10150 5500
Wire Wire Line
	6300 3900 6700 3900
Wire Wire Line
	6300 4000 6700 4000
Wire Wire Line
	7500 3950 7150 3950
Wire Wire Line
	8050 3150 7800 3150
Wire Wire Line
	2900 5850 2800 5850
Wire Wire Line
	1500 5850 1400 5850
Wire Wire Line
	4350 6700 4300 6700
Wire Wire Line
	5400 6700 5300 6700
Wire Wire Line
	4550 3800 4450 3800
Wire Wire Line
	6600 2600 6400 2600
Wire Wire Line
	5600 2550 5950 2550
Connection ~ 7900 2000
Wire Wire Line
	7900 2000 7900 2100
Wire Wire Line
	7900 2100 7950 2100
Wire Wire Line
	7950 2000 7800 2000
Wire Wire Line
	8200 1900 7800 1900
Wire Wire Line
	8250 2550 7900 2550
Text HLabel 7950 2100 2    20   BiDi ~ 0
GND
$Comp
L HEADER_2 J31
U 1 1 4C7596E6
P 7500 2150
F 0 "J31" H 7250 2350 60  0000 C CNN
F 1 "HEADER_2" H 7500 2150 60  0000 C CNN
	1    7500 2150
	1    0    0    -1  
$EndComp
Text Label 8200 1900 2    20   ~ 0
VSERVOS
Text GLabel 7950 2000 2    20   BiDi ~ 0
GND
$Comp
L HEADER_3X2 J32
U 1 1 4C7593B3
P 7650 2600
F 0 "J32" H 7500 2750 60  0000 C CNN
F 1 "HEADER_3X2" H 7700 2400 60  0000 C CNN
	1    7650 2600
	1    0    0    -1  
$EndComp
$Comp
L HEADER_3X2 J30
U 1 1 4C75936B
P 6150 2600
F 0 "J30" H 6000 2750 60  0000 C CNN
F 1 "HEADER_3X2" H 6200 2400 60  0000 C CNN
	1    6150 2600
	1    0    0    -1  
$EndComp
Text GLabel 4550 3750 2    20   BiDi ~ 0
5V
$Comp
L HEADER_4 J29
U 1 1 4C753D66
P 4200 4050
F 0 "J29" H 4000 4250 60  0000 C CNN
F 1 "HEADER_4" H 4200 4050 60  0000 C CNN
	1    4200 4050
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J28
U 1 1 4C753CB1
P 2650 4050
F 0 "J28" H 2450 4250 60  0000 C CNN
F 1 "HEADER_4" H 2650 4050 60  0000 C CNN
	1    2650 4050
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J27
U 1 1 4C753CAD
P 1150 4050
F 0 "J27" H 950 4250 60  0000 C CNN
F 1 "HEADER_4" H 1150 4050 60  0000 C CNN
	1    1150 4050
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J26
U 1 1 4C753C2F
P 4100 3450
F 0 "J26" H 3900 3650 60  0000 C CNN
F 1 "HEADER_4" H 4100 3450 60  0000 C CNN
	1    4100 3450
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J25
U 1 1 4C753C2B
P 2600 3450
F 0 "J25" H 2400 3650 60  0000 C CNN
F 1 "HEADER_4" H 2600 3450 60  0000 C CNN
	1    2600 3450
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J24
U 1 1 4C753B87
P 1150 3450
F 0 "J24" H 950 3650 60  0000 C CNN
F 1 "HEADER_4" H 1150 3450 60  0000 C CNN
	1    1150 3450
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J22
U 1 1 4C753B83
P 2600 2950
F 0 "J22" H 2400 3150 60  0000 C CNN
F 1 "HEADER_4" H 2600 2950 60  0000 C CNN
	1    2600 2950
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J23
U 1 1 4C753B7F
P 4100 2950
F 0 "J23" H 3900 3150 60  0000 C CNN
F 1 "HEADER_4" H 4100 2950 60  0000 C CNN
	1    4100 2950
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J21
U 1 1 4C753B7B
P 1150 2950
F 0 "J21" H 950 3150 60  0000 C CNN
F 1 "HEADER_4" H 1150 2950 60  0000 C CNN
	1    1150 2950
	1    0    0    -1  
$EndComp
$Comp
L HEADER_2 J1
U 1 1 4C75378C
P 5700 1550
F 0 "J1" H 5450 1750 60  0000 C CNN
F 1 "HEADER_2" H 5700 1550 60  0000 C CNN
	1    5700 1550
	1    0    0    -1  
$EndComp
$Comp
L HEADER_2 J20
U 1 1 4C753787
P 7200 1550
F 0 "J20" H 6950 1750 60  0000 C CNN
F 1 "HEADER_2" H 7200 1550 60  0000 C CNN
	1    7200 1550
	1    0    0    -1  
$EndComp
Text GLabel 5400 6700 2    20   BiDi ~ 0
GND
$Comp
L R R30
U 1 1 4C7404B5
P 4600 6700
F 0 "R30" V 4680 6700 50  0000 C CNN
F 1 "1K" V 4600 6700 50  0000 C CNN
	1    4600 6700
	0    1    1    0   
$EndComp
Text GLabel 4300 6700 0    20   BiDi ~ 0
5V
$Comp
L LED D1
U 1 1 4C7404A1
P 5100 6700
F 0 "D1" H 5100 6800 50  0000 C CNN
F 1 "LED" H 5100 6600 50  0000 C CNN
	1    5100 6700
	1    0    0    -1  
$EndComp
$Comp
L SW_PUSH SW3
U 1 1 4C740223
P 1800 6650
F 0 "SW3" H 1950 6760 50  0000 C CNN
F 1 "SW_PUSH" H 1800 6570 50  0000 C CNN
	1    1800 6650
	1    0    0    -1  
$EndComp
Text GLabel 1400 6650 0    20   BiDi ~ 0
GND
$Comp
L R R28
U 1 1 4C740222
P 2550 6650
F 0 "R28" V 2630 6650 50  0000 C CNN
F 1 "4.7K" V 2550 6650 50  0000 C CNN
	1    2550 6650
	0    1    1    0   
$EndComp
Text GLabel 2900 6650 2    20   BiDi ~ 0
3.3V
Text Label 2400 6500 2    20   ~ 0
DIG15
Text Label 2400 6900 2    20   ~ 0
DIG14
Text GLabel 2900 7050 2    20   BiDi ~ 0
3.3V
$Comp
L R R29
U 1 1 4C740221
P 2550 7050
F 0 "R29" V 2630 7050 50  0000 C CNN
F 1 "4.7K" V 2550 7050 50  0000 C CNN
	1    2550 7050
	0    1    1    0   
$EndComp
Text GLabel 1400 7050 0    20   BiDi ~ 0
GND
$Comp
L SW_PUSH SW4
U 1 1 4C740220
P 1800 7050
F 0 "SW4" H 1950 7160 50  0000 C CNN
F 1 "SW_PUSH" H 1800 6970 50  0000 C CNN
	1    1800 7050
	1    0    0    -1  
$EndComp
$Comp
L SW_PUSH SW2
U 1 1 4C74020E
P 1800 6250
F 0 "SW2" H 1950 6360 50  0000 C CNN
F 1 "SW_PUSH" H 1800 6170 50  0000 C CNN
	1    1800 6250
	1    0    0    -1  
$EndComp
Text GLabel 1400 6250 0    20   BiDi ~ 0
GND
$Comp
L R R27
U 1 1 4C74020D
P 2550 6250
F 0 "R27" V 2630 6250 50  0000 C CNN
F 1 "4.7K" V 2550 6250 50  0000 C CNN
	1    2550 6250
	0    1    1    0   
$EndComp
Text GLabel 2900 6250 2    20   BiDi ~ 0
3.3V
Text Label 2400 6100 2    20   ~ 0
DIG22
Text Label 2400 5700 2    20   ~ 0
DIG23
Text GLabel 2900 5850 2    20   BiDi ~ 0
3.3V
$Comp
L R R26
U 1 1 4C7401B4
P 2550 5850
F 0 "R26" V 2630 5850 50  0000 C CNN
F 1 "4.7K" V 2550 5850 50  0000 C CNN
	1    2550 5850
	0    1    1    0   
$EndComp
Text GLabel 1400 5850 0    20   BiDi ~ 0
GND
$Comp
L SW_PUSH SW1
U 1 1 4C740104
P 1800 5850
F 0 "SW1" H 1950 5960 50  0000 C CNN
F 1 "SW_PUSH" H 1800 5770 50  0000 C CNN
	1    1800 5850
	1    0    0    -1  
$EndComp
Text Notes 8500 5450 0    60   ~ 0
IR ANALOG
$Comp
L HEADER_3X2 J18
U 1 1 4C73F9EA
P 6900 3950
F 0 "J18" H 6750 4100 60  0000 C CNN
F 1 "HEADER_3X2" H 6950 3750 60  0000 C CNN
	1    6900 3950
	1    0    0    -1  
$EndComp
Text GLabel 9300 5950 0    20   BiDi ~ 0
ANALOG3
Text GLabel 9300 5900 0    20   BiDi ~ 0
ANALOG2
Text GLabel 9300 5850 0    20   BiDi ~ 0
ANALOG1
Text GLabel 9300 5800 0    20   BiDi ~ 0
ANALOG0
Text GLabel 10150 5950 0    20   BiDi ~ 0
IRANODE3
Text GLabel 10150 5900 0    20   BiDi ~ 0
IRANODE2
Text GLabel 10150 5850 0    20   BiDi ~ 0
IRANODE1
Text GLabel 10150 5800 0    20   BiDi ~ 0
IRANODE0
Text Label 10400 5800 2    20   ~ 0
IRANODE0
Text Label 10400 5900 2    20   ~ 0
IRANODE2
Text Label 10400 5950 2    20   ~ 0
IRANODE3
Text Label 10400 5850 2    20   ~ 0
IRANODE1
Text Label 9500 5800 2    20   ~ 0
ANALOG0
Text Label 9500 5850 2    20   ~ 0
ANALOG1
Text Label 9500 5900 2    20   ~ 0
ANALOG2
Text Label 9500 5950 2    20   ~ 0
ANALOG3
Text Label 10400 5400 2    20   ~ 0
IRANODE1
Text Label 10400 5500 2    20   ~ 0
IRANODE3
Text Label 10400 5450 2    20   ~ 0
IRANODE2
Text Label 10400 5350 2    20   ~ 0
IRANODE0
Entry Wire Line
	10050 5250 10150 5350
Entry Wire Line
	10050 5300 10150 5400
Entry Wire Line
	10050 5400 10150 5500
Entry Wire Line
	10050 5350 10150 5450
Text HLabel 9950 5550 0    20   BiDi ~ 0
IRANODE[0..3]
Text Label 9500 5500 2    20   ~ 0
ANALOG3
Text Label 9500 5450 2    20   ~ 0
ANALOG2
Text Label 9500 5400 2    20   ~ 0
ANALOG1
Text Label 9500 5350 2    20   ~ 0
ANALOG0
Text HLabel 9100 5550 0    20   BiDi ~ 0
ANALOG[0..3]
Entry Wire Line
	9200 5350 9300 5450
Entry Wire Line
	9200 5400 9300 5500
Entry Wire Line
	9200 5300 9300 5400
Entry Wire Line
	9200 5250 9300 5350
Text Label 7150 5600 0    20   ~ 0
IRANODE3
Text Label 7150 5550 0    20   ~ 0
IRANODE2
Text Label 7150 5500 0    20   ~ 0
IRANODE1
Text Label 7150 5450 0    20   ~ 0
IRANODE0
Text GLabel 8250 5600 2    20   BiDi ~ 0
3.3V
Text GLabel 8250 5550 2    20   BiDi ~ 0
3.3V
Text GLabel 8250 5500 2    20   BiDi ~ 0
3.3V
Text GLabel 8250 5450 2    20   BiDi ~ 0
3.3V
Text Label 8200 5600 2    20   ~ 0
IRCATODE3
Text Label 8200 5550 2    20   ~ 0
IRCATODE2
Text Label 8200 5500 2    20   ~ 0
IRCATODE1
Text Label 5600 5600 0    20   ~ 0
GNDIR_LED_D
Text Label 5600 5550 0    20   ~ 0
GNDIR_LED_C
Text Label 5600 5500 0    20   ~ 0
GNDIR_LED_B
Text Label 5600 5450 0    20   ~ 0
GNDIR_LED_A
Text GLabel 6700 5600 2    20   BiDi ~ 0
5V
Text GLabel 6700 5550 2    20   BiDi ~ 0
5V
Text GLabel 6700 5500 2    20   BiDi ~ 0
5V
Text GLabel 6700 5450 2    20   BiDi ~ 0
5V
Text Label 6650 5600 2    20   ~ 0
VIR_LED_D
Text Label 6650 5550 2    20   ~ 0
VIR_LED_C
Text Label 6650 5500 2    20   ~ 0
VIR_LED_B
$Comp
L HEADER_4X2 J17
U 1 1 4C73D7C1
P 7700 5750
F 0 "J17" H 7600 6250 60  0000 C CNN
F 1 "HEADER_4X2" H 7700 5750 40  0000 C CNN
	1    7700 5750
	1    0    0    -1  
$EndComp
Text Label 8200 5450 2    20   ~ 0
IRCATODE0
Text Notes 8550 4750 0    60   ~ 0
I2C_JZ4725
$Comp
L HEADER_4 J15
U 1 1 4C7313EB
P 6550 4950
F 0 "J15" H 6350 5150 60  0000 C CNN
F 1 "HEADER_4" H 6550 4950 60  0000 C CNN
	1    6550 4950
	1    0    0    -1  
$EndComp
Text Label 7000 4650 2    20   ~ 0
VI2C_B
Text Label 7000 4800 2    20   ~ 0
GNDI2C_B
Text GLabel 7100 4650 2    20   BiDi ~ 0
3.3V
Text GLabel 7100 4800 2    20   BiDi ~ 0
GND
Text Label 7050 4700 2    20   ~ 0
JZ4725_SDA
Text Label 7050 4750 2    20   ~ 0
JZ4725_SCK
Text Label 8250 4750 2    20   ~ 0
JZ4725_SCK
Text Label 8250 4650 2    20   ~ 0
JZ4725_SDA
Text Notes 7850 3500 0    60   ~ 0
CONN to SIE
Text GLabel 9350 4400 3    20   BiDi ~ 0
GND
Text GLabel 9850 4700 3    20   BiDi ~ 0
GND
Text Label 6100 4750 2    20   ~ 0
JZ4725_SCK
Text Label 6100 4700 2    20   ~ 0
JZ4725_SDA
$Comp
L HEADER_2 J13
U 1 1 4C72DA98
P 7600 4900
F 0 "J13" H 7350 5100 60  0000 C CNN
F 1 "HEADER_2" H 7600 4900 60  0000 C CNN
	1    7600 4900
	1    0    0    -1  
$EndComp
Text GLabel 5500 5600 0    20   BiDi ~ 0
GND
Text GLabel 5500 5550 0    20   BiDi ~ 0
GND
Text GLabel 5500 5500 0    20   BiDi ~ 0
GND
Text GLabel 5500 5450 0    20   BiDi ~ 0
GND
Text Label 6650 5450 2    20   ~ 0
VIR_LED_A
$Comp
L HEADER_4X2 J16
U 1 1 4C727A27
P 6150 5750
F 0 "J16" H 6050 6250 60  0000 C CNN
F 1 "HEADER_4X2" H 6150 5750 40  0000 C CNN
	1    6150 5750
	1    0    0    -1  
$EndComp
Text GLabel 7200 2650 0    20   BiDi ~ 0
GND
Text GLabel 8150 2650 2    20   BiDi ~ 0
GND
Text GLabel 8050 3150 2    20   BiDi ~ 0
3.3V
Text GLabel 5700 2650 0    20   BiDi ~ 0
GND
Text GLabel 6150 4800 2    20   BiDi ~ 0
GND
Text GLabel 6150 4650 2    20   BiDi ~ 0
3.3V
Text Label 6050 4800 2    20   ~ 0
GNDI2C_A
Text Label 6050 4650 2    20   ~ 0
VI2C_A
$Comp
L HEADER_4 J14
U 1 1 4C72762C
P 5600 4950
F 0 "J14" H 5400 5150 60  0000 C CNN
F 1 "HEADER_4" H 5600 4950 60  0000 C CNN
	1    5600 4950
	1    0    0    -1  
$EndComp
$Comp
L R R2
U 1 1 4C727492
P 10200 3950
F 0 "R2" V 10280 3950 50  0000 C CNN
F 1 "100" V 10200 3950 50  0000 C CNN
	1    10200 3950
	0    1    1    0   
$EndComp
Text GLabel 10550 3950 2    20   BiDi ~ 0
3.3V
Text GLabel 10050 3650 2    20   BiDi ~ 0
3.3V
$Comp
L R R1
U 1 1 4C72743C
P 9700 3650
F 0 "R1" V 9780 3650 50  0000 C CNN
F 1 "100" V 9700 3650 50  0000 C CNN
	1    9700 3650
	0    1    1    0   
$EndComp
Text Label 9850 4700 1    20   ~ 0
GNDIR_B
Text Label 9850 3850 3    20   ~ 0
VIR_B
Text Label 9350 4400 1    20   ~ 0
GNDIR_A
Text Label 9350 3550 3    20   ~ 0
VIR_A
$Comp
L CP1 C1
U 1 1 4C720819
P 9350 3950
F 0 "C1" H 9400 4050 50  0000 L CNN
F 1 "4.7uF-16V" H 9400 3850 50  0000 L CNN
	1    9350 3950
	1    0    0    -1  
$EndComp
$Comp
L CP1 C2
U 1 1 4C720813
P 9850 4250
F 0 "C2" H 9900 4350 50  0000 L CNN
F 1 "4.7uF-16V" H 9900 4150 50  0000 L CNN
	1    9850 4250
	1    0    0    -1  
$EndComp
Text Notes 8500 3950 0    60   ~ 0
IR RECEIVERS
Text Label 7500 4000 2    20   ~ 0
GNDIR_B
Text Label 7500 3900 2    20   ~ 0
VIR_B
Text Label 6300 4000 0    20   ~ 0
GNDIR_A
Text Label 6300 3900 0    20   ~ 0
VIR_A
Text Label 7350 3950 2    20   ~ 0
RX_IR_B
Text Label 6500 3950 0    20   ~ 0
RX_IR_A
Text Label 7500 3950 2    20   ~ 0
DIG9
Text Label 6300 3950 0    20   ~ 0
DIG8
Text Label 5850 3150 0    20   ~ 0
X_IN
Text Label 5850 3200 0    20   ~ 0
Y_IN
Text Label 5850 3250 0    20   ~ 0
Z_IN
Text Label 5600 3250 0    20   ~ 0
ANALOG7
Text Label 5600 3200 0    20   ~ 0
ANALOG6
Text Label 5600 3150 0    20   ~ 0
ANALOG5
Text Label 5850 3300 0    20   ~ 0
GNDACCEL
Text GLabel 5600 3300 0    20   BiDi ~ 0
GND
Text Label 7000 3150 2    20   ~ 0
VACCEL/VULTRASONIC
Text Label 6850 3200 2    20   ~ 0
TX1_JZ4725
Text Label 6850 3250 2    20   ~ 0
RX1_JZ4725
Text GLabel 6850 3300 2    20   BiDi ~ 0
GND
$Comp
L HEADER_4X2 J9
U 1 1 4C720010
P 6400 3450
F 0 "J9" H 6100 3500 60  0000 C CNN
F 1 "HEADER_4X2" H 6400 3450 40  0000 C CNN
	1    6400 3450
	1    0    0    -1  
$EndComp
$Comp
L HEADER_4 J10
U 1 1 4C71CE1F
P 7550 3450
F 0 "J10" H 7350 3650 60  0000 C CNN
F 1 "HEADER_4" H 7550 3450 60  0000 C CNN
	1    7550 3450
	1    0    0    -1  
$EndComp
Text Label 8050 3200 2    20   ~ 0
TX1_JZ4725
Text Label 8050 3250 2    20   ~ 0
RX1_JZ4725
Text GLabel 8050 3300 2    20   BiDi ~ 0
GND
Text Notes 8500 3250 0    60   ~ 0
ACCELEROMETER\nUART (GPS/ultrasonic)
Text Notes 8500 2650 0    60   ~ 0
SERVOS
Text Notes 8500 2000 0    60   ~ 0
SUPPLY
Text Notes 8500 1400 0    60   ~ 0
MOTOR
Text GLabel 7000 3150 2    20   BiDi ~ 0
3.3V
Text GLabel 6650 2650 2    20   BiDi ~ 0
GND
Text Label 5600 2550 0    20   ~ 0
DIG4
Text Label 6750 2550 2    20   ~ 0
DIG5
Text Label 7100 2550 0    20   ~ 0
DIG6
Text Label 8250 2550 2    20   ~ 0
DIG7
Text Label 8150 2550 2    20   ~ 0
SERVO_D
Text Label 7200 2550 0    20   ~ 0
SERVO_C
Text Label 6600 2550 2    20   ~ 0
SERVO_B
Text Label 7200 2600 0    20   ~ 0
VSERVOS
Text Label 6600 2600 2    20   ~ 0
VSERVOS
Text Label 8150 2600 2    20   ~ 0
VSERVOS
Text Label 5750 2550 0    20   ~ 0
SERVO_A
Text Label 5750 2600 0    20   ~ 0
VSERVOS
Text Label 5750 2650 0    20   ~ 0
GNDSERVO
Text Label 6600 2650 2    20   ~ 0
GNDSERVO
Text Label 8150 2650 2    20   ~ 0
GNDSERVO
Text Label 7200 2650 0    20   ~ 0
GNDSERVO
Text GLabel 3250 4600 0    20   BiDi ~ 0
VMAIN
Text HLabel 3450 4600 2    20   BiDi ~ 0
VMAIN
Text GLabel 6950 2000 2    20   BiDi ~ 0
GND
Text Label 6950 1900 0    20   ~ 0
VMOTOR
$Comp
L HEADER_2 J3
U 1 1 4C703269
P 6500 2150
F 0 "J3" H 6250 2350 60  0000 C CNN
F 1 "HEADER_2" H 6500 2150 60  0000 C CNN
	1    6500 2150
	1    0    0    -1  
$EndComp
Text HLabel 6950 2100 2    20   BiDi ~ 0
GND
Text HLabel 7200 1900 2    20   BiDi ~ 0
VMOTOR
Text GLabel 2550 4850 2    20   BiDi ~ 0
MOTR_A_IN
Text GLabel 2550 4900 2    20   BiDi ~ 0
MOTR_B_IN
Text GLabel 2550 4800 2    20   BiDi ~ 0
MOTL_B_IN
Text GLabel 2550 4750 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 2000 5100 0    20   BiDi ~ 0
DIG[0..3]
Entry Wire Line
	2150 4650 2250 4750
Entry Wire Line
	2150 4750 2250 4850
Entry Wire Line
	2150 4800 2250 4900
Entry Wire Line
	2150 4700 2250 4800
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 6250 1900 2    20   BiDi ~ 0
VMAIN
Text HLabel 6000 2100 2    20   BiDi ~ 0
GND
Text HLabel 8050 1400 2    20   BiDi ~ 0
MOTR_B
Text HLabel 8050 1300 2    20   BiDi ~ 0
MOTR_A
Text HLabel 6550 1400 2    20   BiDi ~ 0
MOTL_B
Text HLabel 6550 1300 2    20   BiDi ~ 0
MOTL_A
Text Label 2300 4900 0    20   ~ 0
DIG3
Text Label 2300 4850 0    20   ~ 0
DIG2
Text Label 2300 4800 0    20   ~ 0
DIG1
Text Label 2300 4750 0    20   ~ 0
DIG0
Text GLabel 3350 1500 2    20   BiDi ~ 0
GND
Text GLabel 2550 900  0    20   BiDi ~ 0
GND
Text GLabel 4550 3900 2    20   BiDi ~ 0
GND
Text GLabel 3350 1550 2    20   BiDi ~ 0
3.3V
Text GLabel 3350 1600 2    20   BiDi ~ 0
3.3V
Text GLabel 2550 1550 0    20   BiDi ~ 0
3.3V
Text GLabel 2550 1600 0    20   BiDi ~ 0
3.3V
Text GLabel 4550 3800 2    20   BiDi ~ 0
3.3V
Text Label 3450 900  2    20   ~ 0
DIG13
Text Label 3450 950  2    20   ~ 0
DIG11
Text Label 3450 1000 2    20   ~ 0
DIG9
Text Label 3450 1050 2    20   ~ 0
DIG7
Text Label 3450 1100 2    20   ~ 0
DIG5
Text Label 3450 1150 2    20   ~ 0
DIG3
Text Label 3450 1200 2    20   ~ 0
DIG1
Text Label 3450 1250 2    20   ~ 0
DIG14
Text Label 3450 1300 2    20   ~ 0
DIG16
Text Label 3450 1400 2    20   ~ 0
DIG20
Text Label 3450 1450 2    20   ~ 0
DIG22
Text Label 3450 1350 2    20   ~ 0
DIG18
Text Label 3500 1650 2    20   ~ 0
ANALOG7
Text Label 3500 1700 2    20   ~ 0
ANALOG5
Text Label 3500 1750 2    20   ~ 0
ANALOG3
Text Label 3500 1800 2    20   ~ 0
ANALOG1
Text Label 3500 1850 2    20   ~ 0
AN_GND
Text Label 2400 1850 0    20   ~ 0
AN_GND
Text Label 2400 1800 0    20   ~ 0
ANALOG0
Text Label 2400 1750 0    20   ~ 0
ANALOG2
Text Label 2400 1700 0    20   ~ 0
ANALOG4
Text Label 2400 1650 0    20   ~ 0
ANALOG6
Text Label 2450 1500 0    20   ~ 0
DIG23
Text Label 2450 1450 0    20   ~ 0
DIG21
Text Label 2450 1400 0    20   ~ 0
DIG19
Text Label 2450 1350 0    20   ~ 0
DIG17
Text Label 2450 1300 0    20   ~ 0
DIG15
Text Label 2450 1250 0    20   ~ 0
DIG0
Text Label 2450 1200 0    20   ~ 0
DIG2
Text Label 2450 1150 0    20   ~ 0
DIG4
Text Label 2450 1100 0    20   ~ 0
DIG6
Text Label 2450 1050 0    20   ~ 0
DIG8
Text Label 2450 1000 0    20   ~ 0
DIG10
Text Label 2450 950  0    20   ~ 0
DIG12
Text Label 1600 3150 2    20   ~ 0
DIG12
Text Label 4550 2750 2    20   ~ 0
DIG10
Text Label 4550 2650 2    20   ~ 0
DIG8
Text Label 3050 2750 2    20   ~ 0
DIG6
Text Label 3050 2650 2    20   ~ 0
DIG4
Text Label 1600 2750 2    20   ~ 0
DIG2
Text Label 1600 2650 2    20   ~ 0
DIG0
Text Label 1600 3300 2    20   ~ 0
DIG15
Text Label 3050 3200 2    20   ~ 0
DIG17
Text Label 3050 3300 2    20   ~ 0
DIG19
Text Label 4550 3200 2    20   ~ 0
DIG21
Text Label 4550 3300 2    20   ~ 0
DIG23
Text Label 3150 3850 2    20   ~ 0
ANALOG6
Text Label 3150 3750 2    20   ~ 0
ANALOG4
Text Label 1650 3850 2    20   ~ 0
ANALOG2
Text Label 1650 3750 2    20   ~ 0
ANALOG0
Text Label 4650 3850 2    20   ~ 0
AN_GND
Text Label 1650 3800 2    20   ~ 0
ANALOG1
Text Label 1650 3900 2    20   ~ 0
ANALOG3
Text Label 3150 3800 2    20   ~ 0
ANALOG5
Text Label 3150 3900 2    20   ~ 0
ANALOG7
Text Label 4550 3250 2    20   ~ 0
DIG22
Text Label 4550 3150 2    20   ~ 0
DIG20
Text Label 3050 3250 2    20   ~ 0
DIG18
Text Label 3050 3150 2    20   ~ 0
DIG16
Text Label 1600 3250 2    20   ~ 0
DIG14
Text Label 1600 2700 2    20   ~ 0
DIG1
Text Label 1600 2800 2    20   ~ 0
DIG3
Text Label 3050 2700 2    20   ~ 0
DIG5
Text Label 3050 2800 2    20   ~ 0
DIG7
Text Label 4550 2700 2    20   ~ 0
DIG9
Text Label 4550 2800 2    20   ~ 0
DIG11
Text Label 1600 3200 2    20   ~ 0
DIG13
$Comp
L HEADER_20X2 J4
U 1 1 4C5F3291
P 3000 2000
F 0 "J4" H 2850 3250 60  0000 C CNN
F 1 "HEADER_20X2" H 3000 2000 60  0000 C CNN
	1    3000 2000
	1    0    0    -1  
$EndComp
Text Label 6100 1300 0    20   ~ 0
MOTL_A
Text Label 6100 1400 0    20   ~ 0
MOTL_B
Text Label 7600 1300 0    20   ~ 0
MOTR_A
Text Label 7600 1400 0    20   ~ 0
MOTR_B
$Comp
L HEADER_2 J2
U 1 1 4C5F328F
P 5550 2150
F 0 "J2" H 5300 2350 60  0000 C CNN
F 1 "HEADER_2" H 5550 2150 60  0000 C CNN
	1    5550 2150
	1    0    0    -1  
$EndComp
Text Label 6000 1900 0    20   ~ 0
VMAIN
Text GLabel 6000 2000 2    20   BiDi ~ 0
GND
$EndSCHEMATC