Schematic
1
1
2
2
3
3
4
4
D D
C C
B B
A A
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
39 40
P1
RPI GPIO
P_RX
P_TX
GND
GND
GND
GND
GND
GND
GND
GND
5V
5V
P18
P12
P19
P13
GND
P26
P6
P5
ID_SD
P_SCK
P_MISO
P_MOSI
P_3V3
P22
P27
P17
P4
P_SCL
P_SDA
P_3V3
P23
P24
P25
P_CE0
P_CE1
ID_SC
P16
P20
P21
wPi BCMBCM wPi
15
16
1
4
5
6
10
11
26
27
28
29
8
9
7
0
2
3
12
13
14
21
22
23
24
25
2
3
4
17
27
22
10
9
11
5
6
13
19
26
21
20
16
12
7
8
25
23
24
14
15
18
aveshare
W
GND
GND
AO1
1
AO1
2
PGND1
3
PGND1
4
AO2
5
AO2
6
BO2
7
BO2
8
PGND2
9
PGNG2
10
BO1
11
BO2
12
VM2
13
VM3
14
PWMB
15
BIN2
16
BIN1
17
GND
18
STBY
19
Vcc
20
AIN1
21
AIN2
22
PMMA
23
VM1
24
TB1
TB6612FNG
C9
10uF
C11
0.1uF
C12
0.1uF
A1
A2
B1
B2
VIN VIN
1
2
MOTOR1
Header 2
1
2
MOTOR2
Header 2
A1
A2
B1
B2
1
2
VIN1
Header 2
1
2
3
4
5
6
S1
switch
10K
R7
PWR1
GND
B1
B2
A2
A1
C7
10uF
C8
150pF
BST
8
VIN
7
SW
1
GND
5
FB
4
COMP
3
EN
2
FREQ
6
U1
MP1584
R3
33K
R1
100K
R5
100K
GND
GND
C1
104
AVcc.Ind1
15uH
D1
SS34
GND
R2
210K
R4
40.2K
R6
100K
C3
10uF
5V
GND GND
C4
10uF
1
2
3
4
5
6
H1
Header 6
GND
GND
VIN_USER
VIN
VIN_USER
VIN_USER VIN_USER
VIN
3V3
PWMA
PWMA
AIN2
AIN1
AIN2
AIN1
BIN2
BIN1
PWMB
PWMB
BIN1
BIN2
VIN
1
GND
2
EN
3
BP
4
VOUT
5
U2
RT9193-33
C5
1uF
C6
22nF
GND
GND
3V3
C2
104
GND
5V
A0
1
A1
2
A2
3
A3
4
A4
5
LED0
6
LED1
7
LED2
8
LED10
17
LED8
15
LED9
16
LED11
18
LED12
19
LED13
20
LED14
21
LED15
22
LED3
9
LED4
10
LED5
11
LED6
12
LED7
13
Vss
14
OE
23
A5
24
EXTCLE
25
SCL
26
SDA
27
VDD
28
PCA1
PCA9685
3V3
GND
GND
C10
104
P_SCL
P_SDA
GND
A0
A1
A2
A3
A4
R8
NC
R9
NC
R10
NC
R11
NC
R12
NC
3V3
R13
10K
R14
10K
R15
10K
R16
10K
R17
10K
GND
A0 A1 A2 A3 A4
1
2
3
4
5
P?
Header 5
5V
3V3
GND
P_SDA
P_SCL
3V3
I2C Address:0X40
GND
PIAVcc0Ind101
PIAVcc0Ind102
COAVcc0Ind1
PIC101 PIC102
COC1
PIC201
PIC202
COC2
PIC301
PIC302
COC3
PIC401
PIC402
COC4
PIC501
PIC502
COC5
PIC601
PIC602
COC6
PIC701
PIC702
COC7
PIC801
PIC802
COC8
PIC901
PIC902
COC9
PIC1001
PIC1002
COC10
PIC1101
PIC1102
COC11
PIC1201
PIC1202
COC12
PID101
PID102
COD1
PIH101
PIH102
PIH103
PIH104
PIH105
PIH106
COH1
COlogo1
PIMOTOR101
PIMOTOR102
COMOTOR1
PIMOTOR201
PIMOTOR202
COMOTOR2
PIP101 PIP102
PIP103 PIP104
PIP105 PIP106
PIP107 PIP108
PIP109
PIP1010
PIP1011 PIP1012
PIP1013 PIP1014
PIP1015 PIP1016
PIP1017 PIP1018
PIP1019 PIP1020
PIP1021 PIP1022
PIP1023 PIP1024
PIP1025 PIP1026
PIP1027 PIP1028
PIP1029 PIP1030
PIP1031 PIP1032
PIP1033 PIP1034
PIP1035 PIP1036
PIP1037 PIP1038
PIP1039 PIP1040
COP1
PIP?01
PIP?02
PIP?03
PIP?04
PIP?05
COP?
PIPCA101
PIPCA102
PIPCA103
PIPCA104
PIPCA105
PIPCA106
PIPCA107
PIPCA108
PIPCA109
PIPCA1010
PIPCA1011
PIPCA1012
PIPCA1013
PIPCA1014 PIPCA1015
PIPCA1016
PIPCA1017
PIPCA1018
PIPCA1019
PIPCA1020
PIPCA1021
PIPCA1022
PIPCA1023
PIPCA1024
PIPCA1025
PIPCA1026
PIPCA1027
PIPCA1028
COPCA1
PIPWR101
PIPWR102
COPWR1
PIR101
PIR102
COR1
PIR201
PIR202
COR2
PIR301
PIR302
COR3
PIR401
PIR402
COR4
PIR501
PIR502
COR5
PIR601
PIR602
COR6
PIR701
PIR702
COR7
PIR801
PIR802
COR8
PIR901
PIR902
COR9
PIR1001
PIR1002
COR10
PIR1101
PIR1102
COR11
PIR1201
PIR1202
COR12
PIR1301
PIR1302
COR13
PIR1401
PIR1402
COR14
PIR1501
PIR1502
COR15
PIR1601
PIR1602
COR16
PIR1701
PIR1702
COR17
PIS101
PIS102
PIS103
PIS104
PIS105
PIS106
COS1
PITB101
PITB102
PITB103
PITB104
PITB105
PITB106
PITB107
PITB108
PITB109
PITB1010
PITB1011
PITB1012 PITB1013
PITB1014
PITB1015
PITB1016
PITB1017
PITB1018
PITB1019
PITB1020
PITB1021
PITB1022
PITB1023
PITB1024
COTB1
PIU101
PIU102
PIU103
PIU104
PIU105
PIU106
PIU107
PIU108
COU1
PIU201
PIU202
PIU203 PIU204
PIU205
COU2
PIVIN101
PIVIN102
COVIN1
PIC201
PIC1001
PIC1202
PIP?04
PIPCA1028
PIR701
PIR802 PIR902
PIR1002
PIR1102
PIR1202
PITB1019
PITB1020
PIU205
NL3V3
PIAVcc0Ind102
PIC302
PIC402 PIC502
PIP102
PIP104
PIP?05
PIR202
PIU201
PIU203
NL5V
PIPCA101
PIR801
PIR1302
NLA0
PIH104
PIMOTOR101
PIPCA102
PIR901
PIR1402
PITB101
PITB102
NLA1
PIH103
PIMOTOR102
PIPCA103
PIR1001
PIR1502
PITB105
PITB106
NLA2
PIPCA104
PIR1101
PIR1602
NLA3
PIPCA105
PIR1201
PIR1702
NLA4
PIPCA108
PITB1021
NLAIN1
PIPCA107
PITB1022
NLAIN2
PIH102
PIMOTOR202
PITB107
PITB108
NLB1
PIH101
PIMOTOR201
PITB1011
PITB1012
NLB2
PIPCA109
PITB1017
NLBIN1
PIPCA1010
PITB1016
NLBIN2
PIC202
PIC301
PIC401 PIC501
PIC601
PIC701
PIC902
PIC1002
PIC1101
PIC1201
PID101
PIH105
PIP106
PIP109
PIP1014
PIP1020
PIP1025
PIP1030
PIP1034
PIP1039
PIP?03
PIPCA1014
PIPCA1023
PIPCA1024
PIPCA1025
PIPWR102
PIR301 PIR401
PIR501
PIR601
PIR1301 PIR1401 PIR1501
PIR1601
PIR1701
PITB103
PITB104
PITB109
PITB1010
PITB1018
PIU105
PIU202
PIVIN102
NLGND
PIP1028
NLID0SC
PIP1027
NLID0SD
PIAVcc0Ind101
PIC102
PID102
PIU101
PIC101
PIU108
PIC602
PIU204
PIC801
PIR602
PIC802
PIU103
PIPCA1012
PIPCA1013
PIPCA1015
PIPCA1016
PIPCA1017
PIPCA1018
PIPCA1019
PIPCA1020
PIPCA1021
PIPCA1022
PIPWR101
PIR702
PIR101
PIR302
PIU102
PIR201
PIR402
PIU104
PIR502
PIU106
PIS101
PIS104
PIP107
NLP4
PIP1029
NLP5
PIP1031
NLP6
PIP1032
NLP12
PIP1033
NLP13
PIP1036
NLP16
PIP1011
NLP17
PIP1012
NLP18
PIP1035
NLP19
PIP1038
NLP20
PIP1040
NLP21
PIP1015
NLP22
PIP1016
NLP23
PIP1018
NLP24
PIP1022
NLP25
PIP1037
NLP26
PIP1013
NLP27
PIP101
PIP1017
NLP03V3
PIP1024
NLP0CE0
PIP1026
NLP0CE1
PIP1021
NLP0MISO
PIP1019
NLP0MOSI
PIP1010
NLP0RX
PIP1023
NLP0SCK
PIP105
PIP?01
PIPCA1026
NLP0SCL
PIP103
PIP?02
PIPCA1027
NLP0SDA
PIP108
NLP0TX
PIPCA106
PITB1023
NLPWMA
PIPCA1011
PITB1015
NLPWMB
PIH106
PIS103
PIS106
PIVIN101
NLVIN
PIC702
PIC901
PIC1102
PIR102
PIS102
PIS105
PITB1013
PITB1014
PITB1024
PIU107