Line Folowing
Line Folowing
Line Folowing
C2
U9
7805
1
1N4007
1N4007
1
2
C11
C12
1000uF
470uF
R9
D1
520R
LED-BIBY
1N4007
1N4007
R1
D10
C5
20pF
2
3
4
5
6
7
14
Y1
20MHz
C6
33
34
35
36
37
38
39
40
20pF
OSC1/CLKI
MCLR/VPP
RA0/AN0
RA1/AN1
RA2/AN2/VREFRA3/AN3/VREF+
RA4/T0CKI
RA5/AN4/SS/LVDIN
RA6/OSC2/CLKO
RB0/INT0
RB1/INT1
RB2/INT2
RB3/CCP2B
RB4
RB5/PGM
RB6/PGC
RB7/PGD
RC0/T1OSO/T1CKI
RC1/T1OSI/CCP2A
RC2/CCP1
RC3/SCK/SCL
RC4/SDI/SDA
RC5/SDO
RC6/TX/CK
RC7/RX/DT
RD0/PSP0
RD1/PSP1
RD2/PSP2
RD3/PSP3
RD4/PSP4
RD5/PSP5
RD6/PSP6
RD7/PSP7
RE0/RD/AN5
RE1/WR/AN6
RE2/CS/AN7
1
2
3
4
5
6
VCC
J2
VCC-M
R6
U5
6
47k
VCC-M
12V
5
2
MOTOR-R
4
GND-M
4N25
VCC
R8
U6
1
47
C8
100nF
100nF
4
GND-M
4N25
GND-M
5
7
10
12
6
11
1
15
VCC
GND-M
47k
MOTOR-F
IN1
IN2
IN3
IN4
ENA
ENB
SENSA
SENSB
VCC
VS
U4
OUT1
OUT2
OUT3
OUT4
2
3
U3
1
47
R4
R3
47k
2R2
D3
1N4007
1N4007
D4
D5
1N4007
1N4007
14
GND
D2
13
VCC-M
R2
EN-MOTOR
C7
VCC-M
R7
+88.8
L298
5
2
4
4N25
T1OUT
R1IN
T2OUT
R2IN
VS+
VS-
GND-M
GND-M
GND-M
GND-M
C2+
14
13
7
8
J1
1
2
3
2
6
RS232
C3
C2-
10uF
MAX232
PIC18F452
47
T1IN
R1OUT
T2IN
R2OUT
47k
U1
13
1
C1-
220
VCC
U2
LED1
LED-BIBY
R5
11
12
10
9
VCC
D9
10uF
C1+
TBLOCK-M2
D7
GND
D8
VO
J7
D6
VCC
VI
PROGRAMMING PORT
15
16
17
18
23
24
25
26
19
20
21
22
27
28
29
30
8
9
10
EN-MOTOR
C1
10uF
VCC
MOTOR-R
MOTOR-F
C4
10uF