1 2 3 4 5 6 7 8

COU2
U2 +5V
COU3
U3 +5V +5V 20
AVCC PIU2020
+5V 20 21 7
AVCC PIU3020 PIU2021 AREF VCC PIU207
21
PIU3021 7
PIU307
AREF VCC NLIN2
IN2 14
PIU2014 2
PB0 PD0 PIU202
14
PIU3014 2 RX 15 3
PB0 PD0 PIU302 NLPWM0Left
PIU2015 PB1 PD1 PIU203
15
PIU3015 3 TX PWM_Left PIU2016
16 4 Encoder_Left_A
PB1 PD1 PIU303 NLPWM0Right PB2 PD2 PIU204
16
PIU3016 4 PWM_Right PIU2017
17 5 Encoder_Right_A
PB2 PD2 PIU304 NLIN3 PIU2018 PB3 PD3 PIU205
17
PIU3017 5 IN3 18 6
A PB3 PD3 PIU305 NLIN4 PIU2019 PB4 PD4 PIU206 A
18
PIU3018 6 IN4 19 11
PB4 PD4 PIU306 PB5 PD5 PIU2011
19
PIU3019 11 COY1 9 12
PB5 PD5 PIU3011 PIU209 PB6 PD6 PIU2012 NLIN1
COY2 9
PIU309 PB6 12 10 13 IN1
PD6 PIU3012 PIY101 PIY102 PIU2010 PB7 PD7 PIU2013
PIY201 PIY202 10
PIU3010 13
PB7 PD7 PIU3013 20MHz Encoder_Left_B PIU2023
23 +5V
20MHz PIC302 PIC402 PC0
23 Encoder_Right_B 24
PIC502 PIC602 PIU3023
PC0 COC3
C3 COC4
C4
PIU2024
PC1
24 25
COC5 COC6
PIU3024
PC1 PIC301 22pF 0805PIC401 22pF 0805 PIU2025
PC2 PIR401
C5 C6 25
PIU3025
PC2
26
PIU2026
PC3
PIR301
PIC501 22pF 0805PIC601 22pF 0805 26
PIU3026 PC3
SDA PIU2027
27
PC4
COR3
R3 COR4
R4
SDA PIU3027
27 +5V SCL PIU2028
28 4.7K 0805 4.7K 0805
PC4 COR5
R5 PC5 PIR402
+5V
COR6
R6
SCL PIU3028
28
PC5 PIR502 PIR501
1
PIU201 PC6/RESET PIR302
1 GND

SDA
NLSDA

SCL
GND
PIR602 PIR601
10K 0805
PIU301 PC6/RESET 10K 0805
8 NLSCL
PIS102 GND PIU208
8 22
PIS202 GND PIU308 GND PIU2022
22
GND PIU3022
COS1
S1 ATMEGA328P-PU-SLAVE2
COS2
S2 ATMEGA328P-PU-MASTER GND
GND PIS10
PIS201

GND
GND

MASTER SLAVE2 KHỐI I2C

B B

+12V

COU1
U1 PID102 PID202 PID302 PID402 PIC101 COC1
C1
4 +5V +VCC COIC2
IC2 +12V
VS PIU104 220uF/35V
VSS
9
PIU109
PID101 COD1
D1 PID201 COD2
D2 PID301 COD3
D3 PID401 COD4
D4 PIC102 1
PIIC201 INPUT OUTPUT
3
PIIC203
COP3
P3 +VCC
PWM_Left PIU106
6
ENA SENSE_A
1
PIU101
COP1
P1
GND
2
PIIC202
PIR102 2
2
PIP302
PWM_RightPIU1011
11 15 COR1
R1 1
ENB SENSE_B PIU1015 PIP101 1 1 PIP301
PIP102 2
LM7812CT PIC802 PIC701 COC7
C7
1K 0805
IN1 PIU105
5
IN1 OUT1
2 PIC901 COC9
C9
PIC10 2 COC8
C8
470uF/35V
PIR101 *

1
PIU102
IN2 PIU107
7
IN2 OUT2
3
PIU103
COP2
P2 COC10
C10 PIC801 104 PIC702 PILED1 08 501 GND
IN3 PIU1010
10
IN3 OUT3
13
PIU1013 PIP201 1
PIC902 PIC10 1 104 COLED1 0805
LED1 0805
IN4 PIU1012
12 14 1000uF/25V
IN4 OUT4 PIU1014 PIP202 2

GND
8
PIU108
PID502 PID602 PID702 PID802 PILED1 08 502

2
L298N PID501 COD5
D5 PID601 COD6
D6 PID701 COD7
D7 PID801 COD8
D8
GND
GND

C GND C

KHỐI DRIVER L298 HẠ ÁP 12V KHỐI NGUỒN

COP4
P4 +5V
COIC3
IC3 NLTX
TX
COIC1 LM7805CT NLRX PIP401 1 2 PIP402
NLEncoder0Left0A
+5V +3V3 +12V IC1 +5V RX Encoder_Left_A
ADJ/GND

PIP403 3 4 PIP404
NLEncoder0Left0B
3 2 1 3GND Encoder_Left_B
PIIC303 IN OUT PIIC302 PIIC101 IN OUT PIIC103 +3V3 PIP405 5 6 PIP406
NLEncoder0Right0A
Encoder_Right_A
PIP407 7 8 PIP408
PIR202 PIP409 9 10
NLEncoder0Right0B
Encoder_Right_B
PIP4010
PIC201 COR2
R2
PI C102 COC2
C2 11 12
2

PIP4011 PIP4012
PI C301 LM1117T_3v3 PIC1 01 COC11
C11 220uF/35V
1K 0805
1

470uF/35V
PIC202 PIR201 Header 6X2
PIC1201 COC12
C12
PIC1301 COC13
C13
PIC1 02 GND GND

1
10uF/25V 10uF/25V
PIC1402 PIC1502 PILED2 08 501
PIC1202 PIC1302 C14
COC14 C15
COC15 LED2 0805
COLED2 0805
PIC1401 104 PIC1501 104
D D
PILED2 08 502 KHỐI HEADER

2
GND Title
GND DRIVER ĐIỀU KHIỂN
Size Number Revision
HẠ ÁP 3V3
HẠ ÁP 5V A3
Date: 10/2/2022 Sheet of
File: D:\ĐỒ ÁN\Altium\[Link] Drawn By: Văn Trọng Hiển
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