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+5V
R5
100kW
R1
5.1kW
C12
220nF
+5V
R9
5.1kW
R11
1K
R4
1kW
R8
1kW
6
7
R3
5.1kW
R12
1K
C13
20nF
R10
12kW
5
IC1a
LM358
R6
30kW
IC1b
LM358
LDR
NTC
R7
20kW
+5V
+5V
R22
10k
+5V
R20
10k
R18
10k
SW2
SW1
IC1 ATMega32
+5
1
2
3
4
5
6
7
8
16
(T0) PB0
(T1) PB1
(AIN0) PB2
(AIN1) PB3
(SS) PB4
(MOSI) PB5
(MISO) PB6
(SCK) PB7
(AD0) PA0
(AD1) PA1
(AD2) PA2
(AD3) PA3
(AD4) PA4
(AD5) PA5
(AD6) PA6
(AD7) PA7
40
39
38
37
36
35
34
33
(A15)PC7
29
R21 150W
28
R19 150W
27
R17 150W
(A14)PC6
(A13)PC5
12
X1
C4
20pF
C5
20pF
RS-232
9
8 7
4 3
C7
10mF
13
9
R1
8K2
+5V
C3
10mF
10
11
XTAL2
XTAL1
RESET
VCC
GND
13
7
14
R2IN
R2OUT
R1IN
R1OUT
T2OUT
T2IN
T1OUT
T1IN
IC2
MAX232
C2C2+
C1C1+
C11
1m F
D5
26
25
24
23
22
21
20
19
18
17
16
15
14
C8
1m F
+3V3
12
10
11
5
4
C10
1m F
10K
+3V3
15K
+
1K
3
1
C9
+ 1m F
BC547
ASSOCIATE 470W
1
5
13
2
3
6
4
9
12
16
15
11
17
18
19
20
14
10
18
17
RL4
D4
+5V
RL3
D3
+5V
3
16
15
14
13
12
11
10
D2
RL2
+5V
RL1
+5V
PC Interface
8
(A12)PC4
(A11)PC3
(A10)PC2
(A9)PC1
(A8)PC0
(RD)PD7
(WR)PD6
(OC1A)PD5
PD4
(INT1)PD3
(INTO)PD2
(TXD)PD1
(RXD)PD0
SW3
Xbee Module
VCC
RESET
ON/SLEEP
DOUT
DIN/CONFIG
PWM0/RSSI
CD/DOUT_EN/DO8
DTR/SLEEP_RQ/D18
CTS/DIO7
RTS/AD6/DIO6
ASSOC/AD5/DIO5
RF_TX/AD4/DIO4
COORD_SEL/AD3/DIO3
AD2/DIO2
AD1/DIO1
AD0/DIO0
VREF
GND
GND
VCC
R16
4K7
+5V
R15
4K7
+5V
R14
4K7
+5V
R13
4K7
+5V
+5V
Motor 1
ULN 2003
+5V
12V
+3V3
D1
IN
OUT
IN
GND
DC12V
C1
1000mF
REG1
7805
OUT
GND
C2
100mF
REG1
7805
100mF