replace old sonar connector with newly created one

[challenge-bot] / pcb / mbino.sch

EESchema Schematic File Version 2
LIBS:mbino
LIBS:power
LIBS:device
LIBS:transistors
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:opto
LIBS:atmel
LIBS:contrib
LIBS:valves
LIBS:mbino-cache
EELAYER 24 0
EELAYER END
$Descr User 11000 8500
encoding utf-8
Sheet 1 1
Title "MBino"
Date "28 Jul 2013"
Rev "C"
Comp ""
Comment1 "Use [File] => [Page Settings] to edit this!"
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L SW_PUSH SW1
U 1 1 50712789
P 6800 1800
F 0 "SW1" H 6950 1910 50  0000 C CNN
F 1 "KSS221GLFS" H 6800 1720 50  0000 C CNN
F 2 "" H 6800 1800 60  0001 C CNN
F 3 "" H 6800 1800 60  0001 C CNN
	1    6800 1800
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H8
U 1 1 50707F33
P 2950 7750
F 0 "H8" H 2950 7550 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 2950 7950 60  0000 C CNN
F 2 "" H 2950 7750 60  0001 C CNN
F 3 "" H 2950 7750 60  0001 C CNN
	1    2950 7750
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H7
U 1 1 50707F2D
P 2950 7150
F 0 "H7" H 2950 6950 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 2950 7350 60  0000 C CNN
F 2 "" H 2950 7150 60  0001 C CNN
F 3 "" H 2950 7150 60  0001 C CNN
	1    2950 7150
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H6
U 1 1 50707F27
P 1550 7750
F 0 "H6" H 1550 7550 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 1550 7950 60  0000 C CNN
F 2 "" H 1550 7750 60  0001 C CNN
F 3 "" H 1550 7750 60  0001 C CNN
	1    1550 7750
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H5
U 1 1 50707F21
P 1550 7150
F 0 "H5" H 1550 6950 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 1550 7350 60  0000 C CNN
F 2 "" H 1550 7150 60  0001 C CNN
F 3 "" H 1550 7150 60  0001 C CNN
	1    1550 7150
	1    0    0    -1  
$EndComp
$Comp
L LED_REVERSE D4
U 1 1 5064DDBB
P 5400 5800
F 0 "D4" H 5400 5700 50  0000 C CNN
F 1 "LG_R971-KN-1-0-20-R18" H 5550 5900 50  0000 C CNN
F 2 "" H 5400 5800 60  0001 C CNN
F 3 "" H 5400 5800 60  0001 C CNN
	1    5400 5800
	1    0    0    -1  
$EndComp
$Comp
L LED D3
U 1 1 5014DD21
P 8000 2300
F 0 "D3" H 8000 2200 50  0000 C CNN
F 1 "LED_HEADER_BICOLOR" H 8050 2400 50  0000 C CNN
F 2 "" H 8000 2300 60  0001 C CNN
F 3 "" H 8000 2300 60  0001 C CNN
	1    8000 2300
	1    0    0    -1  
$EndComp
$Comp
L MCP1700T-3302E-SOT89 U2
U 1 1 50613936
P 2750 5950
F 0 "U2" H 2500 5750 50  0000 L CNN
F 1 "MCP1700T-3302E-SOT89" H 2750 6200 50  0000 C CNN
F 2 "" H 2750 5950 60  0001 C CNN
F 3 "" H 2750 5950 60  0001 C CNN
	1    2750 5950
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR12
U 1 1 50611E26
P 4500 5700
F 0 "#PWR12" H 4500 5700 30  0001 C CNN
F 1 "GND" H 4500 5630 30  0001 C CNN
F 2 "" H 4500 5700 60  0001 C CNN
F 3 "" H 4500 5700 60  0001 C CNN
	1    4500 5700
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR9
U 1 1 505F7CB8
P 3800 4500
F 0 "#PWR9" H 3800 4500 30  0001 C CNN
F 1 "GND" H 3800 4430 30  0001 C CNN
F 2 "" H 3800 4500 60  0001 C CNN
F 3 "" H 3800 4500 60  0001 C CNN
	1    3800 4500
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R9
U 1 1 505F7CAD
P 3800 4200
F 0 "R9" H 3650 4200 50  0000 L CNN
F 1 "24K" H 3600 4100 50  0000 L CNN
F 2 "" H 3800 4200 60  0001 C CNN
F 3 "" H 3800 4200 60  0001 C CNN
	1    3800 4200
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR11
U 1 1 505F7C7D
P 4300 4600
F 0 "#PWR11" H 4300 4600 30  0001 C CNN
F 1 "GND" H 4300 4530 30  0001 C CNN
F 2 "" H 4300 4600 60  0001 C CNN
F 3 "" H 4300 4600 60  0001 C CNN
	1    4300 4600
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR14
U 1 1 505D0A2A
P 5800 5900
F 0 "#PWR14" H 5800 5900 30  0001 C CNN
F 1 "GND" H 5800 5830 30  0001 C CNN
F 2 "" H 5800 5900 60  0001 C CNN
F 3 "" H 5800 5900 60  0001 C CNN
	1    5800 5900
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R8
U 1 1 505D09D6
P 5000 5450
F 0 "R8" H 5050 5450 50  0000 L CNN
F 1 "470" H 5050 5350 50  0000 L CNN
F 2 "" H 5000 5450 60  0001 C CNN
F 3 "" H 5000 5450 60  0001 C CNN
	1    5000 5450
	1    0    0    -1  
$EndComp
$Comp
L C C12
U 1 1 505CC37F
P 4250 1400
F 0 "C12" H 4300 1500 50  0000 L CNN
F 1 "1uF" H 4100 1500 50  0000 L CNN
F 2 "" H 4250 1400 60  0001 C CNN
F 3 "" H 4250 1400 60  0001 C CNN
	1    4250 1400
	1    0    0    -1  
$EndComp
$Comp
L DIODE_SCHOTTKY D2
U 1 1 505BD9F1
P 2200 4600
F 0 "D2" V 2100 4750 50  0000 C CNN
F 1 "PMEG3015EH" V 2300 4900 50  0000 C CNN
F 2 "" H 2200 4600 60  0001 C CNN
F 3 "" H 2200 4600 60  0001 C CNN
	1    2200 4600
	0    -1   -1   0   
$EndComp
$Comp
L DIODE_SCHOTTKY D1
U 1 1 505BD8A4
P 1500 2400
F 0 "D1" V 1600 2500 50  0000 C CNN
F 1 "PMEG3015EH" V 1400 2650 50  0000 C CNN
F 2 "" H 1500 2400 60  0001 C CNN
F 3 "" H 1500 2400 60  0001 C CNN
	1    1500 2400
	0    1    1    0   
$EndComp
$Comp
L M3.0_#4_HOLE H4
U 1 1 505B9538
P 2250 7750
F 0 "H4" H 2250 7550 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 2250 7950 60  0000 C CNN
F 2 "" H 2250 7750 60  0001 C CNN
F 3 "" H 2250 7750 60  0001 C CNN
	1    2250 7750
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H3
U 1 1 505B9533
P 2250 7150
F 0 "H3" H 2250 6950 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 2250 7350 60  0000 C CNN
F 2 "" H 2250 7150 60  0001 C CNN
F 3 "" H 2250 7150 60  0001 C CNN
	1    2250 7150
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H2
U 1 1 505B952C
P 850 7750
F 0 "H2" H 850 7550 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 850 7950 60  0000 C CNN
F 2 "" H 850 7750 60  0001 C CNN
F 3 "" H 850 7750 60  0001 C CNN
	1    850  7750
	1    0    0    -1  
$EndComp
$Comp
L M3.0_#4_HOLE H1
U 1 1 505B951E
P 850 7150
F 0 "H1" H 850 6950 60  0000 C CNN
F 1 "M3.0_#4_HOLE" H 850 7350 60  0000 C CNN
F 2 "" H 850 7150 60  0001 C CNN
F 3 "" H 850 7150 60  0001 C CNN
	1    850  7150
	1    0    0    -1  
$EndComp
NoConn ~ 3200 800 
Text Notes 9650 1200 0    50   ~ 0
SHIELD CONNECTORS
Text Notes 2200 1500 0    50   ~ 0
JTAG/ICSP
Text Notes 700  3100 0    50   ~ 0
ROBUS
Text Notes 600  1700 0    50   ~ 0
LPOWER JACK
Text Notes 600  4800 0    50   ~ 0
BPOWER JACK
Text Notes 6700 1700 2    50   ~ 0
RESET
Text Notes 6450 1100 0    50   ~ 0
SERIAL CABLE
Text Notes 3250 5100 0    50   ~ 0
TERMINATE
$Comp
L R_VERT R7
U 1 1 5014DD27
P 8300 2600
F 0 "R7" H 8350 2600 50  0000 L CNN
F 1 "470" H 8350 2500 50  0000 L CNN
F 2 "" H 8300 2600 60  0001 C CNN
F 3 "" H 8300 2600 60  0001 C CNN
	1    8300 2600
	1    0    0    -1  
$EndComp
NoConn ~ 3000 4800
NoConn ~ 3200 2300
NoConn ~ 3200 2100
NoConn ~ 3200 1400
NoConn ~ 3200 1000
$Comp
L GND #PWR17
U 1 1 4FF8588A
P 7200 1900
F 0 "#PWR17" H 7200 1900 30  0001 C CNN
F 1 "GND" H 7200 1830 30  0001 C CNN
F 2 "" H 7200 1900 60  0001 C CNN
F 3 "" H 7200 1900 60  0001 C CNN
	1    7200 1900
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R6
U 1 1 4FF3836B
P 2900 5000
F 0 "R6" H 2950 5000 50  0000 L CNN
F 1 "124" H 2950 4900 50  0000 L CNN
F 2 "" H 2900 5000 60  0001 C CNN
F 3 "" H 2900 5000 60  0001 C CNN
	1    2900 5000
	1    0    0    -1  
$EndComp
$Comp
L TERMINATE J1
U 1 1 4FF3834E
P 3400 4700
F 0 "J1" H 3400 4450 50  0000 C CNN
F 1 "HEADER_1X3" H 3400 4950 50  0000 C CNN
F 2 "" H 3400 4700 60  0001 C CNN
F 3 "" H 3400 4700 60  0001 C CNN
	1    3400 4700
	1    0    0    -1  
$EndComp
$Comp
L PJ-102A N1
U 1 1 4FEF7BA4
P 850 2000
F 0 "N1" H 850 1750 50  0000 C CNN
F 1 "PJ-102A" H 850 2250 50  0000 C CNN
F 2 "" H 850 2000 60  0001 C CNN
F 3 "" H 850 2000 60  0001 C CNN
	1    850  2000
	1    0    0    -1  
$EndComp
NoConn ~ 1200 5200
NoConn ~ 1200 2100
$Comp
L PJ-102A N3
U 1 1 4FEF7B5B
P 850 5100
F 0 "N3" H 850 4850 50  0000 C CNN
F 1 "PJ-102A" H 850 5350 50  0000 C CNN
F 2 "" H 850 5100 60  0001 C CNN
F 3 "" H 850 5100 60  0001 C CNN
	1    850  5100
	1    0    0    -1  
$EndComp
$Comp
L POLYFUSE F1
U 1 1 4FEB47C8
P 1750 4200
F 0 "F1" H 1750 4350 50  0000 C CNN
F 1 "0ZCC0110FF2C" H 1750 4050 50  0000 C CNN
F 2 "" H 1750 4200 60  0001 C CNN
F 3 "" H 1750 4200 60  0001 C CNN
	1    1750 4200
	1    0    0    -1  
$EndComp
$Comp
L C C11
U 1 1 4FEA960A
P 8500 3750
F 0 "C11" H 8550 3850 50  0000 L CNN
F 1 ".1uF" H 8550 3650 50  0000 L CNN
F 2 "" H 8500 3750 60  0001 C CNN
F 3 "" H 8500 3750 60  0001 C CNN
	1    8500 3750
	1    0    0    -1  
$EndComp
NoConn ~ 3700 3600
NoConn ~ 5500 1200
NoConn ~ 5500 1100
$Comp
L GND #PWR13
U 1 1 4FEA8A77
P 5400 1400
F 0 "#PWR13" H 5400 1400 30  0001 C CNN
F 1 "GND" H 5400 1330 30  0001 C CNN
F 2 "" H 5400 1400 60  0001 C CNN
F 3 "" H 5400 1400 60  0001 C CNN
	1    5400 1400
	1    0    0    -1  
$EndComp
$Comp
L FTDI_TTL_232_CABLE N5
U 1 1 4FEA8A3D
P 6050 1050
F 0 "N5" H 6050 650 50  0000 C CNN
F 1 "HEADER_1X6" H 6050 1450 50  0000 C CNN
F 2 "" H 6050 1050 60  0001 C CNN
F 3 "" H 6050 1050 60  0001 C CNN
	1    6050 1050
	1    0    0    -1  
$EndComp
Text Notes 3950 7750 0    50   ~ 0
BYPASS CAPACITORS
$Comp
L GND #PWR8
U 1 1 4FEA8567
P 3600 7700
F 0 "#PWR8" H 3600 7700 30  0001 C CNN
F 1 "GND" H 3600 7630 30  0001 C CNN
F 2 "" H 3600 7700 60  0001 C CNN
F 3 "" H 3600 7700 60  0001 C CNN
	1    3600 7700
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR7
U 1 1 4FEA8561
P 3600 6900
F 0 "#PWR7" H 3600 6990 20  0001 C CNN
F 1 "+5V" H 3600 7010 50  0000 C CNN
F 2 "" H 3600 6900 60  0001 C CNN
F 3 "" H 3600 6900 60  0001 C CNN
	1    3600 6900
	1    0    0    -1  
$EndComp
$Comp
L C C10
U 1 1 4FEA8539
P 5200 7300
F 0 "C10" H 5250 7400 50  0000 L CNN
F 1 ".1uF" H 5250 7200 50  0000 L CNN
F 2 "" H 5200 7300 60  0001 C CNN
F 3 "" H 5200 7300 60  0001 C CNN
	1    5200 7300
	1    0    0    -1  
$EndComp
$Comp
L C C9
U 1 1 4FEA8537
P 4800 7300
F 0 "C9" H 4850 7400 50  0000 L CNN
F 1 ".1uF" H 4850 7200 50  0000 L CNN
F 2 "" H 4800 7300 60  0001 C CNN
F 3 "" H 4800 7300 60  0001 C CNN
	1    4800 7300
	1    0    0    -1  
$EndComp
$Comp
L C C8
U 1 1 4FEA8532
P 4400 7300
F 0 "C8" H 4450 7400 50  0000 L CNN
F 1 ".1uF" H 4450 7200 50  0000 L CNN
F 2 "" H 4400 7300 60  0001 C CNN
F 3 "" H 4400 7300 60  0001 C CNN
	1    4400 7300
	1    0    0    -1  
$EndComp
$Comp
L C C7
U 1 1 4FEA852F
P 4000 7300
F 0 "C7" H 4050 7400 50  0000 L CNN
F 1 ".1uF" H 4050 7200 50  0000 L CNN
F 2 "" H 4000 7300 60  0001 C CNN
F 3 "" H 4000 7300 60  0001 C CNN
	1    4000 7300
	1    0    0    -1  
$EndComp
$Comp
L C C6
U 1 1 4FEA8529
P 3600 7300
F 0 "C6" H 3650 7400 50  0000 L CNN
F 1 ".1uF" H 3650 7200 50  0000 L CNN
F 2 "" H 3600 7300 60  0001 C CNN
F 3 "" H 3600 7300 60  0001 C CNN
	1    3600 7300
	1    0    0    -1  
$EndComp
$Comp
L +3.3V #PWR6
U 1 1 4FEA7CEB
P 3500 5700
F 0 "#PWR6" H 3500 5660 30  0001 C CNN
F 1 "+3.3V" H 3500 5810 50  0000 C CNN
F 2 "" H 3500 5700 60  0001 C CNN
F 3 "" H 3500 5700 60  0001 C CNN
	1    3500 5700
	1    0    0    -1  
$EndComp
$Comp
L C C3
U 1 1 4FEA7CB1
P 3500 6300
F 0 "C3" H 3550 6400 50  0000 L CNN
F 1 "2.2uF" H 3550 6200 50  0000 L CNN
F 2 "" H 3500 6300 60  0001 C CNN
F 3 "" H 3500 6300 60  0001 C CNN
	1    3500 6300
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR1
U 1 1 4FEA7BB6
P 700 6700
F 0 "#PWR1" H 700 6700 30  0001 C CNN
F 1 "GND" H 700 6630 30  0001 C CNN
F 2 "" H 700 6700 60  0001 C CNN
F 3 "" H 700 6700 60  0001 C CNN
	1    700  6700
	1    0    0    -1  
$EndComp
$Comp
L C C5
U 1 1 4FEA7B42
P 4500 5300
F 0 "C5" H 4550 5400 50  0000 L CNN
F 1 "22pF" H 4550 5200 50  0000 L CNN
F 2 "" H 4500 5300 60  0001 C CNN
F 3 "" H 4500 5300 60  0001 C CNN
	1    4500 5300
	1    0    0    -1  
$EndComp
$Comp
L C C4
U 1 1 4FEA7B3E
P 3700 5300
F 0 "C4" H 3750 5400 50  0000 L CNN
F 1 "22pF" H 3750 5200 50  0000 L CNN
F 2 "" H 3700 5300 60  0001 C CNN
F 3 "" H 3700 5300 60  0001 C CNN
	1    3700 5300
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR2
U 1 1 4FEA7A82
P 2100 5700
F 0 "#PWR2" H 2100 5790 20  0001 C CNN
F 1 "+5V" H 2100 5810 50  0000 C CNN
F 2 "" H 2100 5700 60  0001 C CNN
F 3 "" H 2100 5700 60  0001 C CNN
	1    2100 5700
	1    0    0    -1  
$EndComp
$Comp
L C C1
U 1 1 4FEA7A13
P 2100 6300
F 0 "C1" H 2150 6400 50  0000 L CNN
F 1 "1uF" H 1950 6200 50  0000 L CNN
F 2 "" H 2100 6300 60  0001 C CNN
F 3 "" H 2100 6300 60  0001 C CNN
	1    2100 6300
	1    0    0    -1  
$EndComp
$Comp
L C C2
U 1 1 4FEA7A05
P 700 6300
F 0 "C2" H 750 6400 50  0000 L CNN
F 1 ".33uF" H 750 6200 50  0000 L CNN
F 2 "" H 700 6300 60  0001 C CNN
F 3 "" H 700 6300 60  0001 C CNN
	1    700  6300
	1    0    0    -1  
$EndComp
$Comp
L CRYSTAL X1
U 1 1 4FEA7623
P 4100 4900
F 0 "X1" H 4100 4750 50  0000 C CNN
F 1 "16MHz" H 4100 5050 50  0000 C CNN
F 2 "" H 4100 4900 60  0001 C CNN
F 3 "" H 4100 4900 60  0001 C CNN
	1    4100 4900
	1    0    0    -1  
$EndComp
Text Label 900  5800 2    50   ~ 10
VIN
Text Label 9500 2000 2    50   ~ 10
VIN
$Comp
L POLYFUSE F2
U 1 1 4FEA577F
P 1950 2800
F 0 "F2" H 1950 2950 50  0000 C CNN
F 1 "0ZCC0110FF2C" H 1950 2650 50  0000 C CNN
F 2 "" H 1950 2800 60  0001 C CNN
F 3 "" H 1950 2800 60  0001 C CNN
	1    1950 2800
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR5
U 1 1 4FEA56E7
P 3400 1400
F 0 "#PWR5" H 3400 1400 30  0001 C CNN
F 1 "GND" H 3400 1330 30  0001 C CNN
F 2 "" H 3400 1400 60  0001 C CNN
F 3 "" H 3400 1400 60  0001 C CNN
	1    3400 1400
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R3
U 1 1 4FEA564B
P 5000 1600
F 0 "R3" H 5050 1600 50  0000 L CNN
F 1 "1K" H 5050 1500 50  0000 L CNN
F 2 "" H 5000 1600 60  0001 C CNN
F 3 "" H 5000 1600 60  0001 C CNN
	1    5000 1600
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R2
U 1 1 4FEA563E
P 4500 1600
F 0 "R2" H 4550 1600 50  0000 L CNN
F 1 "1K" H 4550 1500 50  0000 L CNN
F 2 "" H 4500 1600 60  0001 C CNN
F 3 "" H 4500 1600 60  0001 C CNN
	1    4500 1600
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR10
U 1 1 4FEA5546
P 4000 800
F 0 "#PWR10" H 4000 890 20  0001 C CNN
F 1 "+5V" H 4000 910 50  0000 C CNN
F 2 "" H 4000 800 60  0001 C CNN
F 3 "" H 4000 800 60  0001 C CNN
	1    4000 800 
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R1
U 1 1 4FEA5511
P 4000 1550
F 0 "R1" H 4050 1550 50  0000 L CNN
F 1 "10K" H 4050 1450 50  0000 L CNN
F 2 "" H 4000 1550 60  0001 C CNN
F 3 "" H 4000 1550 60  0001 C CNN
	1    4000 1550
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR4
U 1 1 4FEA2A49
P 2700 3100
F 0 "#PWR4" H 2700 3190 20  0001 C CNN
F 1 "+5V" H 2700 3210 50  0000 C CNN
F 2 "" H 2700 3100 60  0001 C CNN
F 3 "" H 2700 3100 60  0001 C CNN
	1    2700 3100
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR3
U 1 1 4FEA2A42
P 2500 4500
F 0 "#PWR3" H 2500 4500 30  0001 C CNN
F 1 "GND" H 2500 4430 30  0001 C CNN
F 2 "" H 2500 4500 60  0001 C CNN
F 3 "" H 2500 4500 60  0001 C CNN
	1    2500 4500
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR19
U 1 1 4FEA2942
P 7500 2700
F 0 "#PWR19" H 7500 2790 20  0001 C CNN
F 1 "+5V" H 7500 2810 50  0000 C CNN
F 2 "" H 7500 2700 60  0001 C CNN
F 3 "" H 7500 2700 60  0001 C CNN
	1    7500 2700
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR18
U 1 1 4FEA2854
P 7400 4500
F 0 "#PWR18" H 7400 4500 30  0001 C CNN
F 1 "GND" H 7400 4430 30  0001 C CNN
F 2 "" H 7400 4500 60  0001 C CNN
F 3 "" H 7400 4500 60  0001 C CNN
	1    7400 4500
	1    0    0    -1  
$EndComp
$Comp
L +3.3V #PWR26
U 1 1 4FEA2791
P 9400 1200
F 0 "#PWR26" H 9400 1160 30  0001 C CNN
F 1 "+3.3V" H 9400 1310 50  0000 C CNN
F 2 "" H 9400 1200 60  0001 C CNN
F 3 "" H 9400 1200 60  0001 C CNN
	1    9400 1200
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR25
U 1 1 4FEA275E
P 9000 1200
F 0 "#PWR25" H 9000 1290 20  0001 C CNN
F 1 "+5V" H 9000 1310 50  0000 C CNN
F 2 "" H 9000 1200 60  0001 C CNN
F 3 "" H 9000 1200 60  0001 C CNN
	1    9000 1200
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR24
U 1 1 4FEA269B
P 8800 4100
F 0 "#PWR24" H 8800 4100 30  0001 C CNN
F 1 "GND" H 8800 4030 30  0001 C CNN
F 2 "" H 8800 4100 60  0001 C CNN
F 3 "" H 8800 4100 60  0001 C CNN
	1    8800 4100
	1    0    0    -1  
$EndComp
Text Label 9500 2900 2    50   ~ 10
RESET
Text Label 5200 4500 2    50   ~ 10
RESET
Text Label 5200 3900 2    50   ~ 10
D1
Text Label 5200 4000 2    50   ~ 10
D0
Text Label 5200 3400 2    50   ~ 10
D3
Text Label 5200 3500 2    50   ~ 10
D9
Text Label 5200 4600 2    50   ~ 10
D13
Text Label 5200 4700 2    50   ~ 10
D12
Text Label 5200 4800 2    50   ~ 10
D11
Text Label 6900 4500 0    50   ~ 10
D5
Text Label 6900 3300 0    50   ~ 10
AREF
Text Label 9500 3500 2    50   ~ 10
AREF
Text Label 9500 3700 2    50   ~ 10
D13
Text Label 9500 3800 2    50   ~ 10
D12
Text Label 9500 3900 2    50   ~ 10
D11
Text Label 9500 4100 2    50   ~ 10
D9
Text Label 9500 6400 2    50   ~ 10
A5
Text Label 9500 6300 2    50   ~ 10
A4
Text Label 9500 5400 2    50   ~ 10
D0
Text Label 9500 5300 2    50   ~ 10
D1
Text Label 9500 5100 2    50   ~ 10
D3
Text Label 9500 4900 2    50   ~ 10
D5
Text Label 6900 3700 0    50   ~ 10
A4
Text Label 6900 3600 0    50   ~ 10
A5
Text Label 6900 3500 0    50   ~ 10
D7
Text Label 6900 3400 0    50   ~ 10
D8
Text Label 9500 4700 2    50   ~ 10
D7
Text Label 9500 4200 2    50   ~ 10
D8
Text Label 9500 5200 2    50   ~ 10
D2
Text Label 9500 4800 2    50   ~ 10
D6
Text Label 9500 4000 2    50   ~ 10
D10
Text Label 9500 5000 2    50   ~ 10
D4
Text Label 6900 4800 0    50   ~ 10
D10
Text Label 6900 4700 0    50   ~ 10
D6
Text Label 6900 4600 0    50   ~ 10
D2
Text Label 6900 4400 0    50   ~ 10
D4
Text Label 6900 4100 0    50   ~ 10
A0
Text Label 6900 4000 0    50   ~ 10
A1
Text Label 6900 3900 0    50   ~ 10
A2
Text Label 6900 3800 0    50   ~ 10
A3
Text Label 9500 6200 2    50   ~ 10
A3
Text Label 9500 6100 2    50   ~ 10
A2
Text Label 9500 6000 2    50   ~ 10
A1
Text Label 9500 5900 2    50   ~ 10
A0
$Comp
L R_VERT R5
U 1 1 4FEA188D
P 8000 3250
F 0 "R5" H 8050 3250 50  0000 L CNN
F 1 "4K7" H 8050 3150 50  0000 L CNN
F 2 "" H 8000 3250 60  0001 C CNN
F 3 "" H 8000 3250 60  0001 C CNN
	1    8000 3250
	1    0    0    -1  
$EndComp
$Comp
L R_VERT R4
U 1 1 4FEA1874
P 7700 3250
F 0 "R4" H 7750 3250 50  0000 L CNN
F 1 "4K7" H 7750 3150 50  0000 L CNN
F 2 "" H 7700 3250 60  0001 C CNN
F 3 "" H 7700 3250 60  0001 C CNN
	1    7700 3250
	1    0    0    -1  
$EndComp
$Comp
L MCP2551 U3
U 1 1 4FE95530
P 3250 3750
F 0 "U3" H 3200 3400 50  0000 L BNN
F 1 "MCP2551_SOIC8" H 2950 4050 50  0000 L BNN
F 2 "" H 3250 3750 60  0001 C CNN
F 3 "" H 3250 3750 60  0001 C CNN
	1    3250 3750
	1    0    0    -1  
$EndComp
$Comp
L ROBUS_SLAVE N2
U 1 1 4FE9535C
P 800 3750
F 0 "N2" H 800 3150 50  0000 C CNN
F 1 "HEADER_2X5_SHROUDED_RA" H 1000 4350 50  0000 C CNN
F 2 "" H 800 3750 60  0001 C CNN
F 3 "" H 800 3750 60  0001 C CNN
	1    800  3750
	1    0    0    -1  
$EndComp
$Comp
L JTAG_ICSP N4
U 1 1 4FE95320
P 2800 1550
F 0 "N4" H 2800 650 50  0000 C CNN
F 1 "HEADER_2X8_RA" H 2800 2450 50  0000 C CNN
F 2 "" H 2800 1550 60  0001 C CNN
F 3 "" H 2800 1550 60  0001 C CNN
	1    2800 1550
	1    0    0    -1  
$EndComp
$Comp
L ATMEAG324(ARDUINO) U4
U 1 1 4FE94FFD
P 6050 3750
F 0 "U4" H 6050 2550 50  0000 C CNN
F 1 "ATMEGA324_QFP44" H 6100 4950 50  0000 C CNN
F 2 "" H 6050 3750 60  0001 C CNN
F 3 "" H 6050 3750 60  0001 C CNN
	1    6050 3750
	1    0    0    -1  
$EndComp
$Comp
L ARDUINO_ICSP N7
U 1 1 4FE94510
P 10050 2750
F 0 "N7" H 10050 2350 50  0000 C CNN
F 1 "HEADER_2X3" H 10050 3150 50  0000 C CNN
F 2 "" H 10050 2750 60  0001 C CNN
F 3 "" H 10050 2750 60  0001 C CNN
	1    10050 2750
	1    0    0    -1  
$EndComp
$Comp
L ARDUINO_D0_D7 N9
U 1 1 4FE944D4
P 10050 5050
F 0 "N9" H 10050 4550 50  0000 C CNN
F 1 "HEADER_1X8_FEMALE" H 10050 5550 50  0000 C CNN
F 2 "" H 10050 5050 60  0001 C CNN
F 3 "" H 10050 5050 60  0001 C CNN
	1    10050 5050
	1    0    0    -1  
$EndComp
$Comp
L ARDUINO_D8_D13 N8
U 1 1 4FE944C7
P 10050 3850
F 0 "N8" H 10050 3350 50  0000 C CNN
F 1 "HEADER_1X8_FEMALE" H 10050 4350 50  0000 C CNN
F 2 "" H 10050 3850 60  0001 C CNN
F 3 "" H 10050 3850 60  0001 C CNN
	1    10050 3850
	1    0    0    -1  
$EndComp
$Comp
L ARDUINO_A0_A5 N10
U 1 1 4FE944A3
P 10050 6150
F 0 "N10" H 10050 5750 50  0000 C CNN
F 1 "HEADER_1X6_FEMALE" H 10050 6550 50  0000 C CNN
F 2 "" H 10050 6150 60  0001 C CNN
F 3 "" H 10050 6150 60  0001 C CNN
	1    10050 6150
	1    0    0    -1  
$EndComp
$Comp
L ARDUINO_PWR N6
U 1 1 4FE94483
P 10050 1750
F 0 "N6" H 10050 1350 50  0000 C CNN
F 1 "HEADER_1X6_FEMALE" H 10050 2150 50  0000 C CNN
F 2 "" H 10050 1750 60  0001 C CNN
F 3 "" H 10050 1750 60  0001 C CNN
	1    10050 1750
	1    0    0    -1  
$EndComp
$Comp
L L78LXXXX U1
U 1 1 51F54577
P 1350 5950
F 0 "U1" H 1100 5750 50  0000 L CNN
F 1 "L78L05CDT-TR" H 1350 6200 50  0000 C CNN
F 2 "" H 1350 5950 60  0000 C CNN
F 3 "" H 1350 5950 60  0000 C CNN
	1    1350 5950
	1    0    0    -1  
$EndComp
Text Label 2200 5800 0    50   ~ 0
5V
Text Label 3300 5800 0    50   ~ 0
3V3
$Comp
L R_VERT R11
U 1 1 51F563F3
P 7700 4850
F 0 "R11" H 7750 4850 50  0000 L CNN
F 1 "10K" H 7750 4750 50  0000 L CNN
F 2 "" H 7700 4850 60  0001 C CNN
F 3 "" H 7700 4850 60  0001 C CNN
	1    7700 4850
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR20
U 1 1 51F5694D
P 7700 4450
F 0 "#PWR20" H 7700 4540 20  0001 C CNN
F 1 "+5V" H 7700 4560 50  0000 C CNN
F 2 "" H 7700 4450 60  0001 C CNN
F 3 "" H 7700 4450 60  0001 C CNN
	1    7700 4450
	1    0    0    -1  
$EndComp
$Comp
L R_HORIZ R10
U 1 1 51F565D8
P 6850 5200
F 0 "R10" H 6850 5300 50  0000 C CNN
F 1 "180" H 6850 5100 50  0000 C CNN
F 2 "" H 6850 5200 60  0000 C CNN
F 3 "" H 6850 5200 60  0000 C CNN
	1    6850 5200
	1    0    0    -1  
$EndComp
$Comp
L 74XV2G06 U5
U 2 1 51F56F89
P 8300 5200
F 0 "U5" H 8450 5300 50  0000 C CNN
F 1 "74x2G06" H 8450 5050 50  0000 C CNN
F 2 "" H 8300 5200 60  0000 C CNN
F 3 "" H 8300 5200 60  0000 C CNN
	2    8300 5200
	1    0    0    -1  
$EndComp
$Comp
L 74XV2G06 U5
U 1 1 51F56FAF
P 5950 5200
F 0 "U5" H 6100 5300 50  0000 C CNN
F 1 "74x2G06" H 6100 5050 50  0000 C CNN
F 2 "" H 5950 5200 60  0000 C CNN
F 3 "" H 5950 5200 60  0000 C CNN
	1    5950 5200
	1    0    0    -1  
$EndComp
$Comp
L C C13
U 1 1 51F56FC9
P 7700 5500
F 0 "C13" H 7750 5600 50  0000 L CNN
F 1 ".1uF" H 7750 5400 50  0000 L CNN
F 2 "" H 7700 5500 60  0001 C CNN
F 3 "" H 7700 5500 60  0001 C CNN
	1    7700 5500
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR21
U 1 1 51F56FCF
P 7700 5800
F 0 "#PWR21" H 7700 5800 30  0001 C CNN
F 1 "GND" H 7700 5730 30  0001 C CNN
F 2 "" H 7700 5800 60  0001 C CNN
F 3 "" H 7700 5800 60  0001 C CNN
	1    7700 5800
	1    0    0    -1  
$EndComp
Text Label 1850 5800 0    50   ~ 0
VCC
$Comp
L C C14
U 1 1 51F58FE8
P 5600 7300
F 0 "C14" H 5650 7400 50  0000 L CNN
F 1 ".1uF" H 5650 7200 50  0000 L CNN
F 2 "" H 5600 7300 60  0001 C CNN
F 3 "" H 5600 7300 60  0001 C CNN
	1    5600 7300
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR23
U 1 1 520FCCDE
P 8250 7150
F 0 "#PWR23" H 8250 7150 30  0001 C CNN
F 1 "GND" H 8250 7080 30  0001 C CNN
F 2 "" H 8250 7150 60  0000 C CNN
F 3 "" H 8250 7150 60  0000 C CNN
	1    8250 7150
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR15
U 1 1 520FCF06
P 6600 7150
F 0 "#PWR15" H 6600 7150 30  0001 C CNN
F 1 "GND" H 6600 7080 30  0001 C CNN
F 2 "" H 6600 7150 60  0000 C CNN
F 3 "" H 6600 7150 60  0000 C CNN
	1    6600 7150
	1    0    0    -1  
$EndComp
$Comp
L MOTORCONNECTOR N11
U 1 1 520FE34B
P 8950 6500
F 0 "N11" H 8950 6100 60  0000 C CNN
F 1 "MOTORCONNECTOR" H 8950 6850 60  0000 C CNN
F 2 "" H 8950 6500 60  0000 C CNN
F 3 "" H 8950 6500 60  0000 C CNN
	1    8950 6500
	1    0    0    -1  
$EndComp
$Comp
L +6V #PWR16
U 1 1 520FF132
P 6800 6850
F 0 "#PWR16" H 6800 6980 20  0001 C CNN
F 1 "+6V" H 6800 6950 30  0000 C CNN
F 2 "" H 6800 6850 60  0000 C CNN
F 3 "" H 6800 6850 60  0000 C CNN
	1    6800 6850
	-1   0    0    1   
$EndComp
Text Label 8450 7050 0    50   ~ 0
6V
Text Label 6800 6250 0    50   ~ 0
D9
Text Label 6800 6750 0    50   ~ 0
D8
Wire Wire Line
	8150 6750 8550 6750
Wire Wire Line
	8150 7150 8150 6750
Wire Wire Line
	6700 7150 8150 7150
Wire Wire Line
	6700 6650 6700 7150
Wire Wire Line
	6950 6650 6700 6650
Wire Wire Line
	6650 6350 6950 6350
Wire Wire Line
	6650 7100 6650 6350
Wire Wire Line
	8400 7100 6650 7100
Wire Wire Line
	8400 6650 8400 7100
Wire Wire Line
	8550 6650 8400 6650
Wire Wire Line
	8350 6650 7950 6650
Wire Wire Line
	8350 6450 8350 6650
Wire Wire Line
	8550 6450 8350 6450
Wire Wire Line
	6800 6750 6950 6750
Wire Wire Line
	6800 6250 6950 6250
Wire Wire Line
	6900 7050 8450 7050
Wire Wire Line
	8450 7050 8450 6550
Wire Wire Line
	8250 6450 7950 6450
Wire Wire Line
	6600 6450 6950 6450
Wire Wire Line
	7950 6350 8550 6350
Wire Wire Line
	8550 6250 8250 6250
Wire Wire Line
	8450 6550 8550 6550
Wire Wire Line
	6600 6450 6600 7150
Connection ~ 6800 6450
Wire Wire Line
	6800 6550 6800 6450
Wire Wire Line
	8250 6250 8250 7150
Wire Wire Line
	8250 6550 7950 6550
Connection ~ 5200 7000
Wire Wire Line
	5600 7000 5600 7100
Connection ~ 5200 7600
Wire Wire Line
	5600 7600 5600 7500
Connection ~ 1350 6600
Wire Wire Line
	1350 6300 1350 6600
Wire Wire Line
	9200 1500 9200 5200
Wire Wire Line
	9100 3900 9100 2800
Wire Wire Line
	7700 5800 7700 5700
Wire Wire Line
	7700 4650 7700 4450
Wire Wire Line
	9200 5200 8650 5200
Connection ~ 7700 5200
Wire Wire Line
	7700 5100 7700 5300
Wire Wire Line
	7050 5200 7950 5200
Wire Wire Line
	6300 5200 6600 5200
Wire Wire Line
	5200 5200 5600 5200
Wire Wire Line
	5200 5100 5200 5200
Connection ~ 9200 2900
Connection ~ 4600 3700
Wire Wire Line
	4600 5100 5200 5100
Wire Wire Line
	4600 3700 4600 5100
Wire Wire Line
	2750 6300 2750 6600
Wire Wire Line
	1800 5800 2300 5800
Connection ~ 2750 6600
Wire Wire Line
	3700 5600 4500 5600
Wire Wire Line
	3700 5500 3700 5600
Wire Wire Line
	3800 4500 3800 4450
Wire Wire Line
	5200 4300 4300 4300
Wire Wire Line
	5800 5800 5800 5900
Wire Wire Line
	5600 5800 5800 5800
Wire Wire Line
	5000 4600 5000 5250
Wire Wire Line
	5200 4600 5000 4600
Wire Wire Line
	4250 800  4250 1200
Wire Wire Line
	4500 900  3200 900 
Wire Wire Line
	3700 4700 3700 5100
Wire Wire Line
	4400 4100 5200 4100
Wire Wire Line
	2200 5000 2200 4900
Wire Wire Line
	1500 1900 1500 2100
Wire Wire Line
	7200 1800 7200 1900
Wire Wire Line
	7100 1800 7200 1800
Wire Wire Line
	6400 1800 6500 1800
Wire Wire Line
	8300 2300 8200 2300
Wire Wire Line
	8300 2400 8300 2300
Wire Wire Line
	3600 2000 7000 2000
Wire Wire Line
	3600 1800 3600 2000
Wire Wire Line
	3200 1800 3600 1800
Wire Wire Line
	3400 1700 3200 1700
Wire Wire Line
	4000 800  4000 1350
Connection ~ 5000 1100
Wire Wire Line
	4000 4500 5200 4500
Wire Wire Line
	5500 800  4250 800 
Connection ~ 2400 2800
Wire Wire Line
	3400 2800 3400 1700
Wire Wire Line
	2300 2800 3400 2800
Wire Wire Line
	3200 1300 3400 1300
Wire Wire Line
	2900 4700 2900 4800
Wire Wire Line
	3000 4700 2900 4700
Wire Wire Line
	2200 4200 2100 4200
Connection ~ 1600 3600
Wire Wire Line
	700  5500 700  6100
Wire Wire Line
	2400 5500 700  5500
Connection ~ 2400 3300
Wire Wire Line
	2400 2800 2400 5500
Wire Wire Line
	1200 1900 1500 1900
Connection ~ 2700 3200
Wire Wire Line
	2700 3100 2700 3600
Connection ~ 1300 4200
Connection ~ 1300 3300
Wire Wire Line
	1300 3400 1300 3300
Wire Wire Line
	1200 3400 1300 3400
Wire Wire Line
	8500 3500 8500 3550
Wire Wire Line
	9500 3500 8500 3500
Wire Wire Line
	5400 1300 5500 1300
Wire Wire Line
	5400 1400 5400 1300
Connection ~ 3600 7600
Wire Wire Line
	3600 7500 3600 7700
Connection ~ 4800 7000
Connection ~ 4400 7000
Wire Wire Line
	4800 7100 4800 7000
Wire Wire Line
	5200 7000 5200 7100
Connection ~ 4400 7600
Wire Wire Line
	4800 7600 4800 7500
Wire Wire Line
	4000 7500 4000 7600
Wire Wire Line
	3500 6600 3500 6500
Connection ~ 3700 4900
Wire Wire Line
	3800 4900 3700 4900
Wire Wire Line
	2700 3200 5200 3200
Connection ~ 2100 5800
Wire Wire Line
	2100 5700 2100 6100
Wire Wire Line
	2100 6600 2100 6500
Connection ~ 2500 3900
Wire Wire Line
	2800 3900 2500 3900
Wire Wire Line
	4500 4200 5200 4200
Wire Wire Line
	4400 4900 4500 4900
Wire Wire Line
	2300 3900 1200 3900
Wire Wire Line
	4500 4000 4500 1850
Wire Wire Line
	5200 4000 4500 4000
Wire Wire Line
	5000 3900 5000 1850
Wire Wire Line
	5200 3900 5000 3900
Wire Wire Line
	3700 1600 3200 1600
Wire Wire Line
	3700 2800 3700 1600
Connection ~ 4300 4300
Wire Wire Line
	7300 2300 7300 3600
Connection ~ 7200 3700
Wire Wire Line
	8000 3700 8000 3500
Wire Wire Line
	6900 3700 8000 3700
Wire Wire Line
	6900 3000 7700 3000
Wire Wire Line
	7200 2400 4800 2400
Connection ~ 9000 1700
Wire Wire Line
	9000 1200 9000 2600
Wire Wire Line
	9500 1500 9200 1500
Wire Wire Line
	9500 2900 9200 2900
Connection ~ 8800 3000
Wire Wire Line
	9500 1900 9500 1800
Wire Wire Line
	8900 2500 9500 2500
Wire Wire Line
	8900 3800 8900 2500
Wire Wire Line
	9500 3800 8900 3800
Wire Wire Line
	9100 2800 9500 2800
Wire Wire Line
	9500 3900 9100 3900
Wire Wire Line
	7200 5000 4700 5000
Wire Wire Line
	5200 3800 3700 3800
Wire Wire Line
	7200 3700 7200 2400
Wire Wire Line
	4800 2400 4800 2900
Wire Wire Line
	4800 2900 5200 2900
Wire Wire Line
	7200 4500 6900 4500
Wire Wire Line
	7200 4500 7200 5000
Wire Wire Line
	4700 5000 4700 3600
Wire Wire Line
	4700 3600 5200 3600
Wire Wire Line
	1200 3300 2400 3300
Wire Wire Line
	6900 3100 7500 3100
Wire Wire Line
	7500 4200 6900 4200
Wire Wire Line
	7400 3200 6900 3200
Wire Wire Line
	6900 4300 7400 4300
Wire Wire Line
	8800 3600 9500 3600
Wire Wire Line
	4300 3100 5200 3100
Wire Wire Line
	4200 4400 5200 4400
Wire Wire Line
	1200 3600 2500 3600
Wire Wire Line
	4800 4800 5200 4800
Wire Wire Line
	4800 3300 4800 4800
Wire Wire Line
	5200 3300 4800 3300
Wire Wire Line
	4700 3000 4700 2300
Wire Wire Line
	5200 3000 4700 3000
Wire Wire Line
	3700 3700 5200 3700
Wire Wire Line
	5200 2800 3700 2800
Wire Wire Line
	7100 2800 6900 2800
Wire Wire Line
	9500 3000 8800 3000
Connection ~ 8800 3600
Wire Wire Line
	9000 3700 9500 3700
Wire Wire Line
	9000 2700 9000 3700
Wire Wire Line
	9500 2700 9000 2700
Wire Wire Line
	8800 1900 9500 1900
Wire Wire Line
	8800 1900 8800 4100
Wire Wire Line
	9000 2600 9500 2600
Wire Wire Line
	9500 1700 9000 1700
Wire Wire Line
	9400 1600 9500 1600
Wire Wire Line
	9400 1200 9400 1600
Wire Wire Line
	7400 3200 7400 4500
Connection ~ 7400 4300
Wire Wire Line
	4700 2300 7300 2300
Wire Wire Line
	8000 3050 8000 2900
Wire Wire Line
	6900 3600 7700 3600
Wire Wire Line
	7700 3600 7700 3500
Connection ~ 7300 3600
Wire Wire Line
	7500 2700 7500 4200
Connection ~ 7500 3100
Connection ~ 4200 3200
Wire Wire Line
	1200 3700 2800 3700
Wire Wire Line
	7000 2000 7000 2700
Wire Wire Line
	7000 2700 6900 2700
Wire Wire Line
	3800 2700 5200 2700
Wire Wire Line
	3800 2200 3800 2700
Wire Wire Line
	3200 2200 3800 2200
Wire Wire Line
	4000 1800 4000 4500
Connection ~ 4000 1200
Wire Wire Line
	900  5800 700  5800
Connection ~ 700  5800
Wire Wire Line
	2700 3600 2800 3600
Wire Wire Line
	4500 4200 4500 5100
Connection ~ 4500 4900
Wire Wire Line
	700  6500 700  6700
Connection ~ 700  6600
Connection ~ 2100 6600
Wire Wire Line
	3500 5700 3500 6100
Wire Wire Line
	700  6600 3500 6600
Wire Wire Line
	4400 7600 4400 7500
Connection ~ 4000 7600
Wire Wire Line
	3600 7600 5600 7600
Wire Wire Line
	5200 7600 5200 7500
Connection ~ 4800 7600
Wire Wire Line
	4400 7000 4400 7100
Wire Wire Line
	4000 7000 4000 7100
Wire Wire Line
	3600 7000 5600 7000
Connection ~ 4000 7000
Wire Wire Line
	3600 6900 3600 7100
Connection ~ 3600 7000
Wire Wire Line
	8500 4000 8500 3950
Wire Wire Line
	8800 4000 8500 4000
Connection ~ 8800 4000
Wire Wire Line
	1200 3800 2800 3800
Connection ~ 2500 4300
Wire Wire Line
	1300 4100 1200 4100
Wire Wire Line
	1300 4000 1200 4000
Wire Wire Line
	1300 3900 1300 4000
Connection ~ 1300 3900
Wire Wire Line
	1300 4200 1300 4100
Wire Wire Line
	4200 3200 4200 4400
Connection ~ 1600 3500
Wire Wire Line
	2500 3600 2500 4500
Wire Wire Line
	2300 5100 2300 3900
Wire Wire Line
	1200 5000 2200 5000
Wire Wire Line
	1300 2000 1200 2000
Wire Wire Line
	1500 2800 1600 2800
Wire Wire Line
	1200 4200 1400 4200
Wire Wire Line
	1200 5100 2300 5100
Wire Wire Line
	2700 4600 3000 4600
Wire Wire Line
	2700 3700 2700 4600
Connection ~ 2700 3700
Wire Wire Line
	2900 5300 2900 5250
Wire Wire Line
	2600 5300 2900 5300
Wire Wire Line
	2600 3800 2600 5300
Connection ~ 2600 3800
Wire Wire Line
	3400 1200 3200 1200
Wire Wire Line
	3400 1200 3400 1400
Connection ~ 3400 1300
Connection ~ 4000 1900
Connection ~ 4250 1900
Wire Wire Line
	7100 2100 7100 2800
Wire Wire Line
	3200 1100 5000 1100
Wire Wire Line
	3700 1500 3200 1500
Wire Wire Line
	3700 1200 3700 1500
Wire Wire Line
	4000 1200 3700 1200
Wire Wire Line
	3500 2100 7100 2100
Wire Wire Line
	3500 2000 3500 2100
Wire Wire Line
	3200 2000 3500 2000
Wire Wire Line
	7700 2300 7700 3050
Wire Wire Line
	7800 2300 7700 2300
Connection ~ 7700 3000
Wire Wire Line
	6900 2900 8300 2900
Wire Wire Line
	8300 2900 8300 2850
Connection ~ 8000 2900
Wire Wire Line
	3200 1900 6400 1900
Wire Wire Line
	1300 3000 1300 2000
Wire Wire Line
	1600 3000 1300 3000
Wire Wire Line
	1600 3000 1600 3600
Wire Wire Line
	1200 3500 1600 3500
Wire Wire Line
	1500 2700 1500 2800
Wire Wire Line
	2200 4300 2200 4200
Wire Wire Line
	4400 4700 4400 4100
Wire Wire Line
	4400 4700 3700 4700
Wire Wire Line
	3800 3900 3700 3900
Wire Wire Line
	5000 900  5500 900 
Wire Wire Line
	5000 900  5000 1400
Wire Wire Line
	5500 1000 4500 1000
Connection ~ 4500 1000
Wire Wire Line
	4500 900  4500 1400
Wire Wire Line
	4250 1900 4250 1600
Wire Wire Line
	5000 5800 5200 5800
Wire Wire Line
	5000 5700 5000 5800
Wire Wire Line
	4300 3100 4300 4600
Wire Wire Line
	3800 4000 3800 3900
Wire Wire Line
	4500 5500 4500 5700
Connection ~ 4500 5600
Wire Wire Line
	3200 5800 3500 5800
Connection ~ 3500 5800
Wire Wire Line
	6400 1900 6400 1800
Connection ~ 8250 6550
Connection ~ 8250 6450
$Comp
L +5V #PWR22
U 1 1 520FFEA9
P 8050 6050
F 0 "#PWR22" H 8050 6140 20  0001 C CNN
F 1 "+5V" H 8050 6140 30  0000 C CNN
F 2 "" H 8050 6050 60  0000 C CNN
F 3 "" H 8050 6050 60  0000 C CNN
	1    8050 6050
	1    0    0    -1  
$EndComp
Wire Wire Line
	7950 6150 8050 6150
Wire Wire Line
	8050 6150 8050 6050
Wire Wire Line
	6800 6550 6950 6550
Text Label 6800 6150 0    50   ~ 0
D10
Wire Wire Line
	6950 6150 6800 6150
Text Label 8050 6250 0    50   ~ 0
D5
Wire Wire Line
	7950 6250 8050 6250
Text Label 8000 6750 0    50   ~ 0
D4
Wire Wire Line
	7950 6750 8000 6750
Text Label 8000 6850 0    50   ~ 0
D3
Wire Wire Line
	7950 6850 8000 6850
$Comp
L SN1754410 U6
U 1 1 520FC8B0
P 7450 6500
F 0 "U6" H 7450 6000 50  0000 C CNN
F 1 "SN754410" H 7450 7000 50  0000 C CNN
F 2 "" H 7450 6500 60  0000 C CNN
F 3 "" H 7450 6500 60  0000 C CNN
	1    7450 6500
	1    0    0    -1  
$EndComp
Wire Wire Line
	6950 6850 6800 6850
Wire Wire Line
	6900 6850 6900 7050
Connection ~ 6900 6850
$Comp
L HC-SR04 N?
U 1 1 5222622A
P 8000 950
F 0 "N?" H 8000 1200 50  0000 C CNN
F 1 "HC-SR04" H 8000 700 50  0000 C CNN
F 2 "" H 8000 950 60  0000 C CNN
F 3 "" H 8000 950 60  0000 C CNN
	1    8000 950 
	1    0    0    -1  
$EndComp
$Comp
L HC-SR04 N?
U 1 1 5222624C
P 8000 1600
F 0 "N?" H 8000 1850 50  0000 C CNN
F 1 "HC-SR04" H 8000 1350 50  0000 C CNN
F 2 "" H 8000 1600 60  0000 C CNN
F 3 "" H 8000 1600 60  0000 C CNN
	1    8000 1600
	1    0    0    -1  
$EndComp
Text Label 7500 900  0    60   ~ 0
D7
Wire Wire Line
	7500 900  7650 900 
Text Label 7500 1000 0    60   ~ 0
D6
Wire Wire Line
	7500 1000 7650 1000
Text Label 7450 1550 0    60   ~ 0
D11
Text Label 7450 1650 0    60   ~ 0
D12
Wire Wire Line
	7650 1550 7450 1550
Wire Wire Line
	7650 1650 7450 1650
Text Notes 8200 1000 0    50   ~ 0
LEFT SONAR
Text Notes 8200 1650 0    50   ~ 0
RIGHT SONAR
$Comp
L GND #PWR?
U 1 1 52226C2A
P 7500 1150
F 0 "#PWR?" H 7500 1150 30  0001 C CNN
F 1 "GND" H 7500 1080 30  0001 C CNN
F 2 "" H 7500 1150 60  0000 C CNN
F 3 "" H 7500 1150 60  0000 C CNN
	1    7500 1150
	1    0    0    -1  
$EndComp
$Comp
L GND #PWR?
U 1 1 52226C37
P 7500 1800
F 0 "#PWR?" H 7500 1800 30  0001 C CNN
F 1 "GND" H 7500 1730 30  0001 C CNN
F 2 "" H 7500 1800 60  0000 C CNN
F 3 "" H 7500 1800 60  0000 C CNN
	1    7500 1800
	1    0    0    -1  
$EndComp
Wire Wire Line
	7650 1750 7500 1750
Wire Wire Line
	7500 1750 7500 1800
Wire Wire Line
	7650 1100 7500 1100
Wire Wire Line
	7500 1100 7500 1150
$Comp
L +5V #PWR?
U 1 1 52226EAD
P 7500 1400
F 0 "#PWR?" H 7500 1490 20  0001 C CNN
F 1 "+5V" H 7500 1490 30  0000 C CNN
F 2 "" H 7500 1400 60  0000 C CNN
F 3 "" H 7500 1400 60  0000 C CNN
	1    7500 1400
	1    0    0    -1  
$EndComp
$Comp
L +5V #PWR?
U 1 1 52226EBA
P 7550 750
F 0 "#PWR?" H 7550 840 20  0001 C CNN
F 1 "+5V" H 7550 840 30  0000 C CNN
F 2 "" H 7550 750 60  0000 C CNN
F 3 "" H 7550 750 60  0000 C CNN
	1    7550 750 
	1    0    0    -1  
$EndComp
Wire Wire Line
	7550 750  7550 800 
Wire Wire Line
	7550 800  7650 800 
Wire Wire Line
	7500 1400 7500 1450
Wire Wire Line
	7500 1450 7650 1450
$EndSCHEMATC