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 Connector:Conn_01x02_Male J2 U 1 1 5CD34BBF P 2800 950 F 0 "J2" H 2906 1128 50 0000 C CNN F 1 "Conn_5V" H 2906 1037 50 0000 C CNN F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 2800 950 50 0001 C CNN F 3 "~" H 2800 950 50 0001 C CNN 1 2800 950 1 0 0 -1 $EndComp $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 1100 F 0 "#PWR012" H 3250 850 50 0001 C CNN F 1 "GNDD" H 3254 945 50 0000 C CNN F 2 "" H 3250 1100 50 0001 C CNN F 3 "" H 3250 1100 50 0001 C CNN 1 3250 1100 1 0 0 -1 $EndComp $Comp L power:GNDA #PWR018 U 1 1 5CD37667 P 4350 1100 F 0 "#PWR018" H 4350 850 50 0001 C CNN F 1 "GNDA" H 4355 927 50 0000 C CNN F 2 "" H 4350 1100 50 0001 C CNN F 3 "" H 4350 1100 50 0001 C CNN 1 4350 1100 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: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 $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 3450 1100 3250 1100 Wire Wire Line 3250 1100 3100 1100 Wire Wire Line 3100 1100 3100 1050 Wire Wire Line 3100 1050 3000 1050 Connection ~ 3250 1100 Wire Wire Line 3000 950 3100 950 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 Connection ~ 3450 800 Wire Wire Line 3450 1100 3700 1100 Connection ~ 3450 1100 Wire Wire Line 4350 1100 4000 1100 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 Connector:Conn_01x02_Male J6 U 1 1 5CDD6503 P 5700 850 F 0 "J6" H 5806 1028 50 0000 C CNN F 1 "Conn_9V" H 5806 937 50 0000 C CNN F 2 "Connector_PinHeader_2.54mm:PinHeader_1x02_P2.54mm_Vertical" H 5700 850 50 0001 C CNN F 3 "~" H 5700 850 50 0001 C CNN 1 5700 850 1 0 0 -1 $EndComp $Comp L power:GNDA #PWR038 U 1 1 5CDD6820 P 6000 1000 F 0 "#PWR038" H 6000 750 50 0001 C CNN F 1 "GNDA" H 6005 827 50 0000 C CNN F 2 "" H 6000 1000 50 0001 C CNN F 3 "" H 6000 1000 50 0001 C CNN 1 6000 1000 1 0 0 -1 $EndComp Wire Wire Line 6000 1000 6000 950 Wire Wire Line 6000 950 5900 950 $Comp L power:+9V #PWR039 U 1 1 5CDDA496 P 6050 800 F 0 "#PWR039" H 6050 650 50 0001 C CNN F 1 "+9V" H 6065 973 50 0000 C CNN F 2 "" H 6050 800 50 0001 C CNN F 3 "" H 6050 800 50 0001 C CNN 1 6050 800 1 0 0 -1 $EndComp Wire Wire Line 6050 800 6050 850 Wire Wire Line 6050 850 5900 850 $Comp L Jumper:SolderJumper_2_Open JP2 U 1 1 5CDDE1BC P 3850 1100 F 0 "JP2" H 3850 1000 50 0000 C CNN F 1 "SolderJumper_GNDA" H 3850 900 50 0000 C CNN F 2 "Jumper:SolderJumper-2_P1.3mm_Open_Pad1.0x1.5mm" H 3850 1100 50 0001 C CNN F 3 "~" H 3850 1100 50 0001 C CNN 1 3850 1100 1 0 0 -1 $EndComp 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 $EndSCHEMATC