EESchema Schematic File Version 4
LIBS:controller-cache
EELAYER 26 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L MCU_Microchip_ATmega:ATmega328P-PU U1
U 1 1 5CD141F3
P 1950 3000
F 0 "U1" H 1309 3046 50  0000 R CNN
F 1 "ATmega328P-PU" H 1309 2955 50  0000 R CNN
F 2 "Package_DIP:DIP-28_W7.62mm" H 1950 3000 50  0001 C CIN
F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/ATmega328_P%20AVR%20MCU%20with%20picoPower%20Technology%20Data%20Sheet%2040001984A.pdf" H 1950 3000 50  0001 C CNN
	1    1950 3000
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR09
U 1 1 5CD142C5
P 1950 4650
F 0 "#PWR09" H 1950 4400 50  0001 C CNN
F 1 "GNDD" H 1954 4495 50  0000 C CNN
F 2 "" H 1950 4650 50  0001 C CNN
F 3 "" H 1950 4650 50  0001 C CNN
	1    1950 4650
	1    0    0    -1  
$EndComp
$Comp
L power:GNDA #PWR021
U 1 1 5CD1433E
P 4850 7450
F 0 "#PWR021" H 4850 7200 50  0001 C CNN
F 1 "GNDA" H 4855 7277 50  0000 C CNN
F 2 "" H 4850 7450 50  0001 C CNN
F 3 "" H 4850 7450 50  0001 C CNN
	1    4850 7450
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR08
U 1 1 5CD1438D
P 1950 1300
F 0 "#PWR08" H 1950 1150 50  0001 C CNN
F 1 "+5V" H 1965 1473 50  0000 C CNN
F 2 "" H 1950 1300 50  0001 C CNN
F 3 "" H 1950 1300 50  0001 C CNN
	1    1950 1300
	1    0    0    -1  
$EndComp
Wire Wire Line
	1950 1300 1950 1350
Wire Wire Line
	2050 1500 2050 1350
Wire Wire Line
	2050 1350 1950 1350
Connection ~ 1950 1350
Wire Wire Line
	1950 1350 1950 1500
$Comp
L power:+5V #PWR01
U 1 1 5CD143AC
P 1250 1700
F 0 "#PWR01" H 1250 1550 50  0001 C CNN
F 1 "+5V" H 1265 1873 50  0000 C CNN
F 2 "" H 1250 1700 50  0001 C CNN
F 3 "" H 1250 1700 50  0001 C CNN
	1    1250 1700
	1    0    0    -1  
$EndComp
Wire Wire Line
	1250 1700 1250 1800
Wire Wire Line
	1250 1800 1350 1800
Wire Wire Line
	1950 4650 1950 4500
Text GLabel 2750 3000 2    50   Input ~ 0
ENCODER_BUTTON
Text GLabel 2750 2900 2    50   Input ~ 0
ENCODER_A
Text GLabel 2750 2800 2    50   Input ~ 0
ENCODER_B
Text GLabel 3250 3900 2    50   Input ~ 0
SRLATCH
Text GLabel 3250 3800 2    50   Input ~ 0
SRCLOCK
Text GLabel 3250 3700 2    50   Input ~ 0
SRDATA
Wire Wire Line
	3250 3700 2550 3700
Wire Wire Line
	3250 3800 2550 3800
Wire Wire Line
	2550 3900 3250 3900
$Comp
L Device:R R2
U 1 1 5CD153B9
P 3000 3300
F 0 "R2" V 2793 3300 50  0000 C CNN
F 1 "10k" V 2884 3300 50  0000 C CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P5.08mm_Horizontal" V 2930 3300 50  0001 C CNN
F 3 "~" H 3000 3300 50  0001 C CNN
	1    3000 3300
	0    1    1    0   
$EndComp
$Comp
L power:+5V #PWR013
U 1 1 5CD1548E
P 3300 3300
F 0 "#PWR013" H 3300 3150 50  0001 C CNN
F 1 "+5V" H 3315 3473 50  0000 C CNN
F 2 "" H 3300 3300 50  0001 C CNN
F 3 "" H 3300 3300 50  0001 C CNN
	1    3300 3300
	1    0    0    -1  
$EndComp
Wire Wire Line
	3300 3300 3150 3300
Wire Wire Line
	2850 3300 2600 3300
Wire Wire Line
	2600 3300 2600 3400
Connection ~ 2600 3300
Wire Wire Line
	2600 3300 2550 3300
Text GLabel 3600 3400 2    50   Input ~ 0
RESET
$Comp
L Device:R R1
U 1 1 5CD157F9
P 2900 3600
F 0 "R1" V 2800 3600 50  0000 C CNN
F 1 "1k" V 2900 3600 50  0000 C CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P5.08mm_Horizontal" V 2830 3600 50  0001 C CNN
F 3 "~" H 2900 3600 50  0001 C CNN
	1    2900 3600
	0    1    1    0   
$EndComp
$Comp
L Device:R R3
U 1 1 5CD15825
P 3200 3500
F 0 "R3" V 3100 3500 50  0000 C CNN
F 1 "1k" V 3200 3500 50  0000 C CNN
F 2 "Resistor_THT:R_Axial_DIN0204_L3.6mm_D1.6mm_P5.08mm_Horizontal" V 3130 3500 50  0001 C CNN
F 3 "~" H 3200 3500 50  0001 C CNN
	1    3200 3500
	0    1    1    0   
$EndComp
Wire Wire Line
	3050 3500 2550 3500
Wire Wire Line
	2550 3600 2750 3600
Text GLabel 3600 3600 2    50   Input ~ 0
TX
Text GLabel 3600 3500 2    50   Input ~ 0
RX
Wire Wire Line
	3600 3500 3350 3500
Wire Wire Line
	3600 3600 3050 3600
$Comp
L Device:Crystal Y1
U 1 1 5CD163A1
P 3100 2450
F 0 "Y1" V 3054 2581 50  0000 L CNN
F 1 "Crystal" V 3145 2581 50  0000 L CNN
F 2 "Crystal:Crystal_HC52-6mm_Vertical" H 3100 2450 50  0001 C CNN
F 3 "~" H 3100 2450 50  0001 C CNN
	1    3100 2450
	0    1    1    0   
$EndComp
Wire Wire Line
	3100 2300 2950 2300
Wire Wire Line
	2950 2300 2950 2400
Wire Wire Line
	2950 2400 2550 2400
Wire Wire Line
	2550 2500 2950 2500
Wire Wire Line
	2950 2500 2950 2600
Wire Wire Line
	2950 2600 3100 2600
$Comp
L Device:C C5
U 1 1 5CD16AB1
P 3550 2300
F 0 "C5" V 3298 2300 50  0000 C CNN
F 1 "22p" V 3389 2300 50  0000 C CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 3588 2150 50  0001 C CNN
F 3 "~" H 3550 2300 50  0001 C CNN
	1    3550 2300
	0    1    1    0   
$EndComp
$Comp
L Device:C C6
U 1 1 5CD16B2E
P 3550 2600
F 0 "C6" V 3700 2600 50  0000 C CNN
F 1 "22p" V 3800 2600 50  0000 C CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 3588 2450 50  0001 C CNN
F 3 "~" H 3550 2600 50  0001 C CNN
	1    3550 2600
	0    1    1    0   
$EndComp
Wire Wire Line
	3400 2600 3100 2600
Connection ~ 3100 2600
Wire Wire Line
	3100 2300 3400 2300
Connection ~ 3100 2300
$Comp
L power:GNDD #PWR016
U 1 1 5CD17431
P 3850 2650
F 0 "#PWR016" H 3850 2400 50  0001 C CNN
F 1 "GNDD" H 3854 2495 50  0000 C CNN
F 2 "" H 3850 2650 50  0001 C CNN
F 3 "" H 3850 2650 50  0001 C CNN
	1    3850 2650
	1    0    0    -1  
$EndComp
Wire Wire Line
	3850 2650 3850 2600
Wire Wire Line
	3850 2300 3700 2300
Wire Wire Line
	3700 2600 3850 2600
Connection ~ 3850 2600
Wire Wire Line
	3850 2600 3850 2300
$Comp
L 74xx:74HC595 U4
U 1 1 5CD17EBC
P 5900 2200
F 0 "U4" H 6100 2850 50  0000 C CNN
F 1 "74HC595" H 6100 2750 50  0000 C CNN
F 2 "Package_DIP:DIP-16_W7.62mm" H 5900 2200 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/sn74hc595.pdf" H 5900 2200 50  0001 C CNN
	1    5900 2200
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR032
U 1 1 5CD17FA8
P 5900 1550
F 0 "#PWR032" H 5900 1400 50  0001 C CNN
F 1 "+5V" H 5915 1723 50  0000 C CNN
F 2 "" H 5900 1550 50  0001 C CNN
F 3 "" H 5900 1550 50  0001 C CNN
	1    5900 1550
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR033
U 1 1 5CD17FCB
P 5900 2950
F 0 "#PWR033" H 5900 2700 50  0001 C CNN
F 1 "GNDD" H 5904 2795 50  0000 C CNN
F 2 "" H 5900 2950 50  0001 C CNN
F 3 "" H 5900 2950 50  0001 C CNN
	1    5900 2950
	1    0    0    -1  
$EndComp
Wire Wire Line
	5900 1550 5900 1600
Wire Wire Line
	5900 2900 5900 2950
$Comp
L power:+5V #PWR022
U 1 1 5CD18B0D
P 4950 2100
F 0 "#PWR022" H 4950 1950 50  0001 C CNN
F 1 "+5V" V 4965 2273 50  0000 C CNN
F 2 "" H 4950 2100 50  0001 C CNN
F 3 "" H 4950 2100 50  0001 C CNN
	1    4950 2100
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5500 2100 4950 2100
Text GLabel 5350 2000 0    50   Input ~ 0
SRCLOCK
Wire Wire Line
	5500 2000 5350 2000
Text GLabel 5350 2300 0    50   Input ~ 0
SRLATCH
Wire Wire Line
	5500 2300 5350 2300
Text GLabel 5350 1800 0    50   Input ~ 0
SRDATA
Wire Wire Line
	5350 1800 5500 1800
$Comp
L power:GNDD #PWR030
U 1 1 5CD1B4D1
P 5350 2500
F 0 "#PWR030" H 5350 2250 50  0001 C CNN
F 1 "GNDD" H 5354 2345 50  0000 C CNN
F 2 "" H 5350 2500 50  0001 C CNN
F 3 "" H 5350 2500 50  0001 C CNN
	1    5350 2500
	1    0    0    -1  
$EndComp
Wire Wire Line
	5500 2400 5350 2400
Wire Wire Line
	5350 2400 5350 2500
$Comp
L power:+5V #PWR034
U 1 1 5CD1CCB4
P 5900 3450
F 0 "#PWR034" H 5900 3300 50  0001 C CNN
F 1 "+5V" H 5915 3623 50  0000 C CNN
F 2 "" H 5900 3450 50  0001 C CNN
F 3 "" H 5900 3450 50  0001 C CNN
	1    5900 3450
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR035
U 1 1 5CD1CCBA
P 5900 4850
F 0 "#PWR035" H 5900 4600 50  0001 C CNN
F 1 "GNDD" H 5904 4695 50  0000 C CNN
F 2 "" H 5900 4850 50  0001 C CNN
F 3 "" H 5900 4850 50  0001 C CNN
	1    5900 4850
	1    0    0    -1  
$EndComp
Wire Wire Line
	5900 3450 5900 3500
Wire Wire Line
	5900 4800 5900 4850
$Comp
L power:+5V #PWR023
U 1 1 5CD1CCC2
P 4950 4000
F 0 "#PWR023" H 4950 3850 50  0001 C CNN
F 1 "+5V" V 4965 4173 50  0000 C CNN
F 2 "" H 4950 4000 50  0001 C CNN
F 3 "" H 4950 4000 50  0001 C CNN
	1    4950 4000
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5500 4000 4950 4000
Text GLabel 5350 3900 0    50   Input ~ 0
SRCLOCK
Wire Wire Line
	5500 3900 5350 3900
Text GLabel 5350 4200 0    50   Input ~ 0
SRLATCH
Wire Wire Line
	5500 4200 5350 4200
Wire Wire Line
	5350 3700 5500 3700
$Comp
L power:GNDD #PWR031
U 1 1 5CD1CCCF
P 5350 4400
F 0 "#PWR031" H 5350 4150 50  0001 C CNN
F 1 "GNDD" H 5354 4245 50  0000 C CNN
F 2 "" H 5350 4400 50  0001 C CNN
F 3 "" H 5350 4400 50  0001 C CNN
	1    5350 4400
	1    0    0    -1  
$EndComp
Wire Wire Line
	5500 4300 5350 4300
Wire Wire Line
	5350 4300 5350 4400
Wire Wire Line
	5350 3200 6300 3200
Wire Wire Line
	6300 3200 6300 2700
Wire Wire Line
	5350 3200 5350 3700
$Comp
L Device:C C9
U 1 1 5CD239F2
P 5350 1300
F 0 "C9" H 5235 1254 50  0000 R CNN
F 1 "100nF" H 5235 1345 50  0000 R CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 5388 1150 50  0001 C CNN
F 3 "~" H 5350 1300 50  0001 C CNN
	1    5350 1300
	-1   0    0    1   
$EndComp
$Comp
L power:GNDD #PWR029
U 1 1 5CD24539
P 5350 1450
F 0 "#PWR029" H 5350 1200 50  0001 C CNN
F 1 "GNDD" H 5354 1295 50  0000 C CNN
F 2 "" H 5350 1450 50  0001 C CNN
F 3 "" H 5350 1450 50  0001 C CNN
	1    5350 1450
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR028
U 1 1 5CD24558
P 5350 1150
F 0 "#PWR028" H 5350 1000 50  0001 C CNN
F 1 "+5V" H 5365 1323 50  0000 C CNN
F 2 "" H 5350 1150 50  0001 C CNN
F 3 "" H 5350 1150 50  0001 C CNN
	1    5350 1150
	1    0    0    -1  
$EndComp
$Comp
L Device:C C8
U 1 1 5CD250AE
P 5100 3450
F 0 "C8" H 4985 3404 50  0000 R CNN
F 1 "100nF" H 4985 3495 50  0000 R CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 5138 3300 50  0001 C CNN
F 3 "~" H 5100 3450 50  0001 C CNN
	1    5100 3450
	-1   0    0    1   
$EndComp
$Comp
L power:GNDD #PWR026
U 1 1 5CD250B4
P 5100 3600
F 0 "#PWR026" H 5100 3350 50  0001 C CNN
F 1 "GNDD" H 5104 3445 50  0000 C CNN
F 2 "" H 5100 3600 50  0001 C CNN
F 3 "" H 5100 3600 50  0001 C CNN
	1    5100 3600
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR025
U 1 1 5CD250BA
P 5100 3300
F 0 "#PWR025" H 5100 3150 50  0001 C CNN
F 1 "+5V" H 5115 3473 50  0000 C CNN
F 2 "" H 5100 3300 50  0001 C CNN
F 3 "" H 5100 3300 50  0001 C CNN
	1    5100 3300
	1    0    0    -1  
$EndComp
$Comp
L Device:C C1
U 1 1 5CD25D56
P 1550 1200
F 0 "C1" H 1435 1154 50  0000 R CNN
F 1 "100nF" H 1435 1245 50  0000 R CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 1588 1050 50  0001 C CNN
F 3 "~" H 1550 1200 50  0001 C CNN
	1    1550 1200
	-1   0    0    1   
$EndComp
$Comp
L power:GNDD #PWR03
U 1 1 5CD25D5C
P 1550 1350
F 0 "#PWR03" H 1550 1100 50  0001 C CNN
F 1 "GNDD" H 1554 1195 50  0000 C CNN
F 2 "" H 1550 1350 50  0001 C CNN
F 3 "" H 1550 1350 50  0001 C CNN
	1    1550 1350
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR02
U 1 1 5CD25D62
P 1550 1050
F 0 "#PWR02" H 1550 900 50  0001 C CNN
F 1 "+5V" H 1565 1223 50  0000 C CNN
F 2 "" H 1550 1050 50  0001 C CNN
F 3 "" H 1550 1050 50  0001 C CNN
	1    1550 1050
	1    0    0    -1  
$EndComp
$Comp
L Driver_Motor:L293D U3
U 1 1 5CD2818F
P 5050 6550
F 0 "U3" H 5350 7600 50  0000 C CNN
F 1 "L293D" H 5350 7500 50  0000 C CNN
F 2 "Package_DIP:DIP-16_W7.62mm" H 5300 5800 50  0001 L CNN
F 3 "http://www.ti.com/lit/ds/symlink/l293.pdf" H 4750 7250 50  0001 C CNN
	1    5050 6550
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR024
U 1 1 5CD2A75C
P 4950 5450
F 0 "#PWR024" H 4950 5300 50  0001 C CNN
F 1 "VCC" H 4967 5623 50  0000 C CNN
F 2 "" H 4950 5450 50  0001 C CNN
F 3 "" H 4950 5450 50  0001 C CNN
	1    4950 5450
	1    0    0    -1  
$EndComp
Wire Wire Line
	4950 5450 4950 5550
Wire Wire Line
	4850 7450 4850 7400
Wire Wire Line
	4950 7350 4950 7400
Wire Wire Line
	4950 7400 4850 7400
Connection ~ 4850 7400
Wire Wire Line
	4850 7400 4850 7350
Wire Wire Line
	5250 7350 5250 7400
Wire Wire Line
	5250 7400 5150 7400
Connection ~ 4950 7400
Wire Wire Line
	5150 7350 5150 7400
Connection ~ 5150 7400
Wire Wire Line
	5150 7400 4950 7400
$Comp
L power:VCC #PWR027
U 1 1 5CD2E54B
P 5150 5450
F 0 "#PWR027" H 5150 5300 50  0001 C CNN
F 1 "VCC" H 5167 5623 50  0000 C CNN
F 2 "" H 5150 5450 50  0001 C CNN
F 3 "" H 5150 5450 50  0001 C CNN
	1    5150 5450
	1    0    0    -1  
$EndComp
Wire Wire Line
	5150 5450 5150 5550
$Comp
L Connector:Conn_01x02_Male J5
U 1 1 5CD323EC
P 6050 6100
F 0 "J5" H 6022 5980 50  0000 R CNN
F 1 "Conn_Motor" H 6022 6071 50  0000 R CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 6050 6100 50  0001 C CNN
F 3 "~" H 6050 6100 50  0001 C CNN
	1    6050 6100
	-1   0    0    1   
$EndComp
Wire Wire Line
	5850 6000 5700 6000
Wire Wire Line
	5700 6000 5700 5950
Wire Wire Line
	5700 5950 5550 5950
Wire Wire Line
	5550 6150 5700 6150
Wire Wire Line
	5700 6150 5700 6100
Wire Wire Line
	5700 6100 5850 6100
$Comp
L power:+5V #PWR011
U 1 1 5CD34CC4
P 3250 800
F 0 "#PWR011" H 3250 650 50  0001 C CNN
F 1 "+5V" H 3265 973 50  0000 C CNN
F 2 "" H 3250 800 50  0001 C CNN
F 3 "" H 3250 800 50  0001 C CNN
	1    3250 800 
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR012
U 1 1 5CD34CED
P 3250 1150
F 0 "#PWR012" H 3250 900 50  0001 C CNN
F 1 "GNDD" H 3254 995 50  0000 C CNN
F 2 "" H 3250 1150 50  0001 C CNN
F 3 "" H 3250 1150 50  0001 C CNN
	1    3250 1150
	1    0    0    -1  
$EndComp
$Comp
L power:GNDA #PWR018
U 1 1 5CD37667
P 4350 1150
F 0 "#PWR018" H 4350 900 50  0001 C CNN
F 1 "GNDA" H 4355 977 50  0000 C CNN
F 2 "" H 4350 1150 50  0001 C CNN
F 3 "" H 4350 1150 50  0001 C CNN
	1    4350 1150
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR017
U 1 1 5CD38E26
P 4350 800
F 0 "#PWR017" H 4350 650 50  0001 C CNN
F 1 "VCC" H 4367 973 50  0000 C CNN
F 2 "" H 4350 800 50  0001 C CNN
F 3 "" H 4350 800 50  0001 C CNN
	1    4350 800 
	1    0    0    -1  
$EndComp
$Comp
L Device:C C3
U 1 1 5CD3F935
P 3400 3400
F 0 "C3" V 3150 3500 50  0000 C CNN
F 1 "100nF" V 3250 3500 50  0000 C CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 3438 3250 50  0001 C CNN
F 3 "~" H 3400 3400 50  0001 C CNN
	1    3400 3400
	0    1    1    0   
$EndComp
Wire Wire Line
	3250 3400 2600 3400
Wire Wire Line
	3600 3400 3550 3400
$Comp
L Connector:Conn_01x06_Female J3
U 1 1 5CD43722
P 3700 4750
F 0 "J3" H 3727 4726 50  0000 L CNN
F 1 "Conn_01x06_Female" H 3727 4635 50  0000 L CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x06_P2.54mm_Vertical" H 3700 4750 50  0001 C CNN
F 3 "~" H 3700 4750 50  0001 C CNN
	1    3700 4750
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR014
U 1 1 5CD43924
P 3300 5050
F 0 "#PWR014" H 3300 4800 50  0001 C CNN
F 1 "GNDD" H 3304 4895 50  0000 C CNN
F 2 "" H 3300 5050 50  0001 C CNN
F 3 "" H 3300 5050 50  0001 C CNN
	1    3300 5050
	1    0    0    -1  
$EndComp
Wire Wire Line
	3500 5050 3300 5050
Text GLabel 3300 4550 0    50   Input ~ 0
RESET
Wire Wire Line
	3500 4550 3300 4550
Text GLabel 2950 4650 0    50   Input ~ 0
TX
Text GLabel 2950 4750 0    50   Input ~ 0
RX
Wire Wire Line
	2950 4750 3500 4750
Wire Wire Line
	2950 4650 3500 4650
$Comp
L Connector_Generic:Conn_02x04_Counter_Clockwise J1
U 1 1 5CD7CCFC
P 2250 6050
F 0 "J1" H 1950 6250 50  0000 C CNN
F 1 "Conn_w5100" H 2300 6276 50  0000 C CNN
F 2 "footprints:W5100_V2" H 2250 6050 50  0001 C CNN
F 3 "~" H 2250 6050 50  0001 C CNN
	1    2250 6050
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR06
U 1 1 5CD7CFCE
P 1650 5950
F 0 "#PWR06" H 1650 5700 50  0001 C CNN
F 1 "GNDD" H 1654 5795 50  0000 C CNN
F 2 "" H 1650 5950 50  0001 C CNN
F 3 "" H 1650 5950 50  0001 C CNN
	1    1650 5950
	0    1    1    0   
$EndComp
Wire Wire Line
	2050 5950 1650 5950
Text GLabel 1900 6050 0    50   Input ~ 0
MOSI
Text GLabel 1900 6150 0    50   Input ~ 0
SCK
Text GLabel 2700 6050 2    50   Input ~ 0
MISO
Text GLabel 2700 6150 2    50   Input ~ 0
SS
Wire Wire Line
	2700 6050 2550 6050
Wire Wire Line
	2550 6150 2700 6150
Wire Wire Line
	1900 6150 2050 6150
Wire Wire Line
	2050 6050 1900 6050
$Comp
L Regulator_Linear:L78L33_TO92 U2
U 1 1 5CD8B474
P 2300 5250
F 0 "U2" H 2300 5492 50  0000 C CNN
F 1 "L78L33_TO92" H 2300 5401 50  0000 C CNN
F 2 "Package_TO_SOT_THT:TO-92_Inline" H 2300 5475 50  0001 C CIN
F 3 "http://www.st.com/content/ccc/resource/technical/document/datasheet/15/55/e5/aa/23/5b/43/fd/CD00000446.pdf/files/CD00000446.pdf/jcr:content/translations/en.CD00000446.pdf" H 2300 5200 50  0001 C CNN
	1    2300 5250
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR010
U 1 1 5CD8B5FA
P 2300 5550
F 0 "#PWR010" H 2300 5300 50  0001 C CNN
F 1 "GNDD" H 2304 5395 50  0000 C CNN
F 2 "" H 2300 5550 50  0001 C CNN
F 3 "" H 2300 5550 50  0001 C CNN
	1    2300 5550
	1    0    0    -1  
$EndComp
Wire Wire Line
	2800 5250 2800 5950
Wire Wire Line
	2800 5950 2550 5950
Wire Wire Line
	2600 5250 2800 5250
Text Label 2750 5950 2    50   ~ 0
3v3
$Comp
L power:+5V #PWR07
U 1 1 5CD8E795
P 1850 5250
F 0 "#PWR07" H 1850 5100 50  0001 C CNN
F 1 "+5V" H 1865 5423 50  0000 C CNN
F 2 "" H 1850 5250 50  0001 C CNN
F 3 "" H 1850 5250 50  0001 C CNN
	1    1850 5250
	1    0    0    -1  
$EndComp
Wire Wire Line
	2000 5250 1850 5250
$Comp
L Device:C C2
U 1 1 5CD91735
P 1650 5400
F 0 "C2" H 1535 5354 50  0000 R CNN
F 1 "100nF" H 1535 5445 50  0000 R CNN
F 2 "Capacitor_THT:C_Disc_D3.0mm_W1.6mm_P2.50mm" H 1688 5250 50  0001 C CNN
F 3 "~" H 1650 5400 50  0001 C CNN
	1    1650 5400
	-1   0    0    1   
$EndComp
$Comp
L power:GNDD #PWR05
U 1 1 5CD9173B
P 1650 5550
F 0 "#PWR05" H 1650 5300 50  0001 C CNN
F 1 "GNDD" H 1654 5395 50  0000 C CNN
F 2 "" H 1650 5550 50  0001 C CNN
F 3 "" H 1650 5550 50  0001 C CNN
	1    1650 5550
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR04
U 1 1 5CD91741
P 1650 5250
F 0 "#PWR04" H 1650 5100 50  0001 C CNN
F 1 "+5V" H 1665 5423 50  0000 C CNN
F 2 "" H 1650 5250 50  0001 C CNN
F 3 "" H 1650 5250 50  0001 C CNN
	1    1650 5250
	1    0    0    -1  
$EndComp
Text GLabel 2700 2000 2    50   Input ~ 0
SS
Text GLabel 2700 2100 2    50   Input ~ 0
MOSI
Text GLabel 2700 2200 2    50   Input ~ 0
MISO
Wire Wire Line
	2700 2200 2550 2200
Wire Wire Line
	2550 2100 2700 2100
Wire Wire Line
	2700 2000 2550 2000
Text GLabel 2700 2300 2    50   Input ~ 0
SCK
Wire Wire Line
	2700 2300 2550 2300
$Comp
L Device:CP C7
U 1 1 5CDA1999
P 4450 5350
F 0 "C7" H 4568 5396 50  0000 L CNN
F 1 "470uF" H 4568 5305 50  0000 L CNN
F 2 "Capacitor_THT:CP_Radial_D8.0mm_P5.00mm" H 4488 5200 50  0001 C CNN
F 3 "~" H 4450 5350 50  0001 C CNN
	1    4450 5350
	1    0    0    -1  
$EndComp
$Comp
L power:GNDA #PWR020
U 1 1 5CDA1A27
P 4450 5500
F 0 "#PWR020" H 4450 5250 50  0001 C CNN
F 1 "GNDA" H 4455 5327 50  0000 C CNN
F 2 "" H 4450 5500 50  0001 C CNN
F 3 "" H 4450 5500 50  0001 C CNN
	1    4450 5500
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR019
U 1 1 5CDA1A5E
P 4450 5200
F 0 "#PWR019" H 4450 5050 50  0001 C CNN
F 1 "VCC" H 4467 5373 50  0000 C CNN
F 2 "" H 4450 5200 50  0001 C CNN
F 3 "" H 4450 5200 50  0001 C CNN
	1    4450 5200
	1    0    0    -1  
$EndComp
Wire Wire Line
	3100 950  3100 800 
Wire Wire Line
	3100 800  3250 800 
Wire Wire Line
	3250 800  3450 800 
Connection ~ 3250 800 
$Comp
L Jumper:SolderJumper_2_Bridged JP1
U 1 1 5CDBB9F4
P 3850 800
F 0 "JP1" H 3850 950 50  0000 C CNN
F 1 "SolderJumper_5V_VCC" H 3850 900 50  0000 C CNN
F 2 "Jumper:SolderJumper-2_P1.3mm_Bridged_Pad1.0x1.5mm" H 3850 800 50  0001 C CNN
F 3 "~" H 3850 800 50  0001 C CNN
	1    3850 800 
	1    0    0    -1  
$EndComp
Wire Wire Line
	3700 800  3450 800 
Wire Wire Line
	4350 1150 4000 1150
Wire Wire Line
	4000 800  4350 800 
$Comp
L Transistor_Array:ULN2803A U7
U 1 1 5CDD2737
P 7250 3200
F 0 "U7" H 7250 3767 50  0000 C CNN
F 1 "ULN2803A" H 7250 3676 50  0000 C CNN
F 2 "Package_DIP:DIP-18_W7.62mm" H 7300 2550 50  0001 L CNN
F 3 "http://www.ti.com/lit/ds/symlink/uln2803a.pdf" H 7350 3000 50  0001 C CNN
	1    7250 3200
	1    0    0    -1  
$EndComp
$Comp
L power:GNDA #PWR041
U 1 1 5CDD292F
P 7250 3950
F 0 "#PWR041" H 7250 3700 50  0001 C CNN
F 1 "GNDA" H 7255 3777 50  0000 C CNN
F 2 "" H 7250 3950 50  0001 C CNN
F 3 "" H 7250 3950 50  0001 C CNN
	1    7250 3950
	1    0    0    -1  
$EndComp
Text Notes 4750 900  2    50   ~ 0
VCC for \nMotor (3V - 7V)
$Comp
L power:+9V #PWR039
U 1 1 5CDDA496
P 2850 800
F 0 "#PWR039" H 2850 650 50  0001 C CNN
F 1 "+9V" H 2865 973 50  0000 C CNN
F 2 "" H 2850 800 50  0001 C CNN
F 3 "" H 2850 800 50  0001 C CNN
	1    2850 800 
	1    0    0    -1  
$EndComp
Wire Wire Line
	2850 800  2850 850 
Wire Wire Line
	2850 850  2700 850 
Text GLabel 4500 5950 0    50   Input ~ 0
MOTOR_1
Text GLabel 4500 6150 0    50   Input ~ 0
MOTOR_2
Wire Wire Line
	4550 6150 4500 6150
Wire Wire Line
	4550 5950 4500 5950
Text GLabel 3100 4000 2    50   Input ~ 0
MOTOR_1
Text GLabel 3100 4100 2    50   Input ~ 0
MOTOR_2
Text GLabel 2650 2700 2    50   Input ~ 0
SERVO_SLIDER
Wire Wire Line
	2650 2700 2550 2700
Wire Wire Line
	3100 4000 2550 4000
Wire Wire Line
	2550 4100 3100 4100
$Comp
L Connector:Conn_01x03_Male J7
U 1 1 5CE08F51
P 6500 6400
F 0 "J7" H 6473 6330 50  0000 R CNN
F 1 "Conn_Servo_Poti" H 6473 6421 50  0000 R CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x03_P2.54mm_Vertical" H 6500 6400 50  0001 C CNN
F 3 "~" H 6500 6400 50  0001 C CNN
	1    6500 6400
	-1   0    0    1   
$EndComp
$Comp
L power:+5V #PWR036
U 1 1 5CE0942F
P 6200 6300
F 0 "#PWR036" H 6200 6150 50  0001 C CNN
F 1 "+5V" H 6215 6473 50  0000 C CNN
F 2 "" H 6200 6300 50  0001 C CNN
F 3 "" H 6200 6300 50  0001 C CNN
	1    6200 6300
	1    0    0    -1  
$EndComp
$Comp
L power:GNDD #PWR037
U 1 1 5CE09472
P 6200 6500
F 0 "#PWR037" H 6200 6250 50  0001 C CNN
F 1 "GNDD" H 6204 6345 50  0000 C CNN
F 2 "" H 6200 6500 50  0001 C CNN
F 3 "" H 6200 6500 50  0001 C CNN
	1    6200 6500
	1    0    0    -1  
$EndComp
Text GLabel 6200 6400 0    50   Input ~ 0
SERVO_SLIDER
Wire Wire Line
	6300 6400 6200 6400
Wire Wire Line
	6200 6300 6300 6300
Wire Wire Line
	6200 6500 6300 6500
$Comp
L Connector:Conn_01x04_Male J4
U 1 1 5CE19110
P 4000 5700
F 0 "J4" H 4000 5300 50  0000 C CNN
F 1 "Conn_Encoder" H 4000 5400 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x04_P2.54mm_Vertical" H 4000 5700 50  0001 C CNN
F 3 "~" H 4000 5700 50  0001 C CNN
	1    4000 5700
	-1   0    0    1   
$EndComp
$Comp
L power:GNDD #PWR015
U 1 1 5CE20D44
P 3650 5850
F 0 "#PWR015" H 3650 5600 50  0001 C CNN
F 1 "GNDD" H 3654 5695 50  0000 C CNN
F 2 "" H 3650 5850 50  0001 C CNN
F 3 "" H 3650 5850 50  0001 C CNN
	1    3650 5850
	1    0    0    -1  
$EndComp
Wire Wire Line
	3650 5500 3800 5500
Text GLabel 3650 5500 0    50   Input ~ 0
ENCODER_BUTTON
Text GLabel 3650 5600 0    50   Input ~ 0
ENCODER_A
Text GLabel 3650 5700 0    50   Input ~ 0
ENCODER_B
Wire Wire Line
	3800 5700 3650 5700
Wire Wire Line
	3650 5600 3800 5600
Wire Wire Line
	3800 5800 3650 5800
Wire Wire Line
	3650 5800 3650 5850
Wire Wire Line
	7250 3950 7250 3900
$Comp
L Transistor_Array:ULN2803A U6
U 1 1 5CE689B3
P 7250 1300
F 0 "U6" H 7250 1867 50  0000 C CNN
F 1 "ULN2803A" H 7250 1776 50  0000 C CNN
F 2 "Package_DIP:DIP-18_W7.62mm" H 7300 650 50  0001 L CNN
F 3 "http://www.ti.com/lit/ds/symlink/uln2803a.pdf" H 7350 1100 50  0001 C CNN
	1    7250 1300
	1    0    0    -1  
$EndComp
$Comp
L power:GNDA #PWR040
U 1 1 5CE68A43
P 7250 2050
F 0 "#PWR040" H 7250 1800 50  0001 C CNN
F 1 "GNDA" H 7255 1877 50  0000 C CNN
F 2 "" H 7250 2050 50  0001 C CNN
F 3 "" H 7250 2050 50  0001 C CNN
	1    7250 2050
	1    0    0    -1  
$EndComp
Wire Wire Line
	7250 2050 7250 2000
$Comp
L Connector:Conn_01x09_Male J9
U 1 1 5CEE2E4F
P 8100 1400
F 0 "J9" H 8073 1330 50  0000 R CNN
F 1 "Conn_relayA" H 8073 1421 50  0000 R CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x09_P2.54mm_Vertical" H 8100 1400 50  0001 C CNN
F 3 "~" H 8100 1400 50  0001 C CNN
	1    8100 1400
	-1   0    0    1   
$EndComp
$Comp
L power:+9V #PWR043
U 1 1 5CEE2FE5
P 7800 900
F 0 "#PWR043" H 7800 750 50  0001 C CNN
F 1 "+9V" H 7815 1073 50  0000 C CNN
F 2 "" H 7800 900 50  0001 C CNN
F 3 "" H 7800 900 50  0001 C CNN
	1    7800 900 
	1    0    0    -1  
$EndComp
Wire Wire Line
	7800 900  7800 1000
Wire Wire Line
	7800 1000 7650 1000
Wire Wire Line
	7900 1000 7800 1000
Connection ~ 7800 1000
Wire Wire Line
	7650 1100 7900 1100
Wire Wire Line
	7650 1200 7900 1200
Wire Wire Line
	7650 1300 7900 1300
Wire Wire Line
	7650 1400 7900 1400
Wire Wire Line
	7650 1500 7900 1500
Wire Wire Line
	7650 1600 7900 1600
Wire Wire Line
	7650 1700 7900 1700
Wire Wire Line
	7650 1800 7900 1800
$Comp
L Connector:Conn_01x09_Male J8
U 1 1 5CF21C9B
P 8050 3300
F 0 "J8" H 8022 3230 50  0000 R CNN
F 1 "Conn_relayB" H 8022 3321 50  0000 R CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x09_P2.54mm_Vertical" H 8050 3300 50  0001 C CNN
F 3 "~" H 8050 3300 50  0001 C CNN
	1    8050 3300
	-1   0    0    1   
$EndComp
$Comp
L power:+9V #PWR042
U 1 1 5CF21DA0
P 7750 2850
F 0 "#PWR042" H 7750 2700 50  0001 C CNN
F 1 "+9V" H 7765 3023 50  0000 C CNN
F 2 "" H 7750 2850 50  0001 C CNN
F 3 "" H 7750 2850 50  0001 C CNN
	1    7750 2850
	1    0    0    -1  
$EndComp
Wire Wire Line
	7650 2900 7750 2900
Wire Wire Line
	7750 2850 7750 2900
Connection ~ 7750 2900
Wire Wire Line
	7750 2900 7850 2900
Wire Wire Line
	7850 3000 7650 3000
Wire Wire Line
	7650 3100 7850 3100
Wire Wire Line
	7850 3200 7650 3200
Wire Wire Line
	7650 3300 7850 3300
Wire Wire Line
	7850 3400 7650 3400
Wire Wire Line
	7650 3500 7850 3500
Wire Wire Line
	7850 3600 7650 3600
Wire Wire Line
	7650 3700 7850 3700
Wire Wire Line
	6300 1800 6850 1800
Wire Wire Line
	6300 1900 6800 1900
Wire Wire Line
	6800 1900 6800 1700
Wire Wire Line
	6800 1700 6850 1700
Wire Wire Line
	6850 1600 6750 1600
Wire Wire Line
	6750 1600 6750 2000
Wire Wire Line
	6750 2000 6300 2000
Wire Wire Line
	6300 2100 6700 2100
Wire Wire Line
	6700 2100 6700 1500
Wire Wire Line
	6700 1500 6850 1500
Wire Wire Line
	6850 1400 6650 1400
Wire Wire Line
	6650 1400 6650 2200
Wire Wire Line
	6650 2200 6300 2200
Wire Wire Line
	6600 2300 6600 1300
Wire Wire Line
	6600 1300 6850 1300
Wire Wire Line
	6300 2300 6600 2300
Wire Wire Line
	6850 1200 6550 1200
Wire Wire Line
	6550 1200 6550 2400
Wire Wire Line
	6550 2400 6300 2400
Wire Wire Line
	6300 2500 6500 2500
Wire Wire Line
	6500 2500 6500 1100
Wire Wire Line
	6500 1100 6850 1100
$Comp
L 74xx:74HC595 U5
U 1 1 5CD1CCAE
P 5900 4100
F 0 "U5" H 6100 4800 50  0000 C CNN
F 1 "74HC595" H 6100 4700 50  0000 C CNN
F 2 "Package_DIP:DIP-16_W7.62mm" H 5900 4100 50  0001 C CNN
F 3 "http://www.ti.com/lit/ds/symlink/sn74hc595.pdf" H 5900 4100 50  0001 C CNN
	1    5900 4100
	1    0    0    -1  
$EndComp
Wire Wire Line
	6300 3700 6850 3700
Wire Wire Line
	6850 3600 6750 3600
Wire Wire Line
	6750 3600 6750 3800
Wire Wire Line
	6750 3800 6300 3800
Wire Wire Line
	6300 3900 6700 3900
Wire Wire Line
	6700 3900 6700 3500
Wire Wire Line
	6700 3500 6850 3500
Wire Wire Line
	6850 3400 6650 3400
Wire Wire Line
	6650 3400 6650 4000
Wire Wire Line
	6650 4000 6300 4000
Wire Wire Line
	6300 4100 6600 4100
Wire Wire Line
	6600 4100 6600 3300
Wire Wire Line
	6600 3300 6850 3300
Wire Wire Line
	6850 3200 6550 3200
Wire Wire Line
	6550 3200 6550 4200
Wire Wire Line
	6550 4200 6300 4200
Wire Wire Line
	6300 4300 6500 4300
Wire Wire Line
	6500 4300 6500 3100
Wire Wire Line
	6500 3100 6850 3100
Wire Wire Line
	6850 3000 6450 3000
Wire Wire Line
	6450 3000 6450 4400
Wire Wire Line
	6450 4400 6300 4400
Wire Wire Line
	2750 3000 2550 3000
Wire Wire Line
	2750 2900 2550 2900
Wire Wire Line
	2550 2800 2750 2800
$Comp
L Connector:Conn_01x05_Male J2
U 1 1 5CD2E3E6
P 2500 1050
F 0 "J2" H 2606 1428 50  0000 C CNN
F 1 "Conn_5V_9V" H 2606 1337 50  0000 C CNN
F 2 "Connector_PinHeader_2.54mm:PinHeader_1x05_P2.54mm_Vertical" H 2500 1050 50  0001 C CNN
F 3 "~" H 2500 1050 50  0001 C CNN
	1    2500 1050
	1    0    0    -1  
$EndComp
Wire Wire Line
	2700 950  2800 950 
Wire Wire Line
	2700 1050 2800 1050
Wire Wire Line
	2800 1050 2800 950 
Connection ~ 2800 950 
Wire Wire Line
	2800 950  3100 950 
Wire Wire Line
	2700 1250 2950 1250
Wire Wire Line
	2950 1250 2950 1150
Wire Wire Line
	2950 1150 3250 1150
Wire Wire Line
	2950 1150 2700 1150
Connection ~ 2950 1150
$Comp
L Device:CP C4
U 1 1 5CD3C177
P 3450 950
F 0 "C4" H 3568 996 50  0000 L CNN
F 1 "100uF" H 3568 905 50  0000 L CNN
F 2 "Capacitor_THT:CP_Radial_D8.0mm_P5.00mm" H 3488 800 50  0001 C CNN
F 3 "~" H 3450 950 50  0001 C CNN
	1    3450 950 
	1    0    0    -1  
$EndComp
Connection ~ 3450 800 
Wire Wire Line
	3250 1150 3450 1150
Connection ~ 3250 1150
Wire Wire Line
	3450 1150 3450 1100
Connection ~ 3450 1150
Wire Wire Line
	3450 1150 3700 1150
$Comp
L Jumper:SolderJumper_2_Bridged JP2
U 1 1 5CDC4DD2
P 3850 1150
F 0 "JP2" H 3850 1300 50  0000 C CNN
F 1 "SolderJumper_5V_VCC" H 3850 1250 50  0000 C CNN
F 2 "Jumper:SolderJumper-2_P1.3mm_Bridged_Pad1.0x1.5mm" H 3850 1150 50  0001 C CNN
F 3 "~" H 3850 1150 50  0001 C CNN
	1    3850 1150
	1    0    0    -1  
$EndComp
$EndSCHEMATC