1 2 3 4

1 16
A R PWM (RC2) EN1 VSS VCC A
2 15
R Motor 1(RB6) IN1 IN4 L Motor 1(RB5)
3 14 JP2
OUT1 OUT4
4 13
2 GND GND 1
5 12
1 GND GND 2
6 11
OUT2 OUT3
JP1 7 10
R Motor 2 (RB7) IN2 IN3 L Motor 2 (RB4) U?
8 9
Vmotor VS EN2 L PWM (RC1) CYTRON SK40A
L293D
LED
(Power) 7805
0
12V
1 40
MCLR RB7 RB7
2 39
RA0 RB6 RB6
3 38
RA1 RB5 RB5
4 37
RA2 RB4 RB4
5 36
RA3 RB3
6 35
D2 RA4 RB2
B 7 34 B
D1 EMITTER Q3 RA5 RB1
8 33 VCC
EMITTER Q2 D3 RE0 RB0
Q1 RECEIVER 9 32

PIC16F877A
EMITTER RE1 Vdd
RECEIVER VCC 10 31
RE2 Vss
11 30
Vdd RD7
12 29
L Sensor M Sensor R Sensor Vss RD6
13 28
OSC1 RD5
14 27
OSC2 RD4
R1 330R R3 R4 R3 R6 15 26

MAX232
RC0 RC7
4.7K R2 4.7K 330R 4.7K 330R 16 25
RC1 RC1 RC6
17 24
RC2 RC2 RC5
18 23
RD2 RC3 RC4
19 22
RD0 RD0 PR5 Schematic RD3
VCC 20 21
RD1 RD1 RD2
VR1 VR2 VR3
R10 R11 R12
Reset Boot

C SK40A C
RD0

330R
R7 D4 1 14
OUT1 OUT4
2 13
VR1 IN1- IN4-
3 12
L Sensor IN1+ IN4+
4 11
VCC V+ V-
5 10
M Sensor IN2+ IN3+ R Sensor
330R 6 9 330R R9
VR3 IN2- IN3- VR3
R8 D5 7 8
OUT2 OUT3
RD2
RD1

LM324 DS?

Title
D PR5 Schematic D

Size Number Revision

Ver 1.0
A
Date: 7/15/2009 Sheet of
File: D:\[project]\..\PR5.SCHDOC Drawn By:
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