line_follower.sch

EESchema Schematic File Version 4
LIBS:line_follower-cache
EELAYER 26 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title "line_follower.sch"
Date "2019-01-27"
Rev "v1"
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L line_follower-cache:TB6612FNG U7
U 1 1 5A625B6B
P 7150 1650
F 0 "U7" H 6800 2200 60  0001 C CNN
F 1 "TB6612FNG" H 7300 2200 60  0000 C CNN
F 2 "line_follower:tb6612fng_sparkfun" H 6750 1650 60  0001 C CNN
F 3 "" H 6750 1650 60  0000 C CNN
	1    7150 1650
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:SW_PUSH SW2
U 1 1 5A65D657
P 10450 5750
F 0 "SW2" V 10650 5850 50  0000 C CNN
F 1 "SW_PUSH" H 10450 5670 50  0001 C CNN
F 2 "line_follower:SW_PUSH_6mm_h5mm" H 10450 5750 60  0001 C CNN
F 3 "~" H 10450 5750 60  0000 C CNN
	1    10450 5750
	0    -1   -1   0   
$EndComp
$Comp
L line_follower-cache:SW_PUSH SW3
U 1 1 5A65D689
P 10700 5750
F 0 "SW3" V 10900 5850 50  0000 C CNN
F 1 "SW_PUSH" H 10700 5670 50  0001 C CNN
F 2 "line_follower:SW_PUSH_6mm_h5mm" H 10700 5750 60  0001 C CNN
F 3 "~" H 10700 5750 60  0000 C CNN
	1    10700 5750
	0    -1   -1   0   
$EndComp
NoConn ~ 5800 5000
NoConn ~ 7200 5200
NoConn ~ 7200 3600
$Comp
L line_follower-cache:R R4
U 1 1 5A662A1D
P 1100 3550
F 0 "R4" H 1200 3550 40  0000 C CNN
F 1 "47k" V 1107 3551 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 1030 3550 30  0001 C CNN
F 3 "~" H 1100 3550 30  0000 C CNN
	1    1100 3550
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:R R5
U 1 1 5A662A2C
P 1100 4150
F 0 "R5" H 1200 4150 40  0000 C CNN
F 1 "20k" V 1107 4151 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 1030 4150 30  0001 C CNN
F 3 "~" H 1100 4150 30  0000 C CNN
	1    1100 4150
	1    0    0    -1  
$EndComp
Text GLabel 9750 1500 0    60   Input ~ 0
RM_OUT_A
Text GLabel 9750 1600 0    60   Input ~ 0
RM_OUT_B
Text GLabel 9750 1800 0    60   Input ~ 0
RM_M1
Text GLabel 9750 1900 0    60   Input ~ 0
RM_M2
Text GLabel 6100 1700 0    60   Input ~ 0
RM_M1
Text GLabel 6100 1800 0    60   Input ~ 0
RM_M2
Text GLabel 6100 1600 0    60   Input ~ 0
LM_M2
Text GLabel 6100 1500 0    60   Input ~ 0
LM_M1
Text GLabel 9850 3400 0    60   Input ~ 0
LM_M1
Text GLabel 9850 3500 0    60   Input ~ 0
LM_M2
Text GLabel 9850 3200 0    60   Input ~ 0
LM_OUT_A
Text GLabel 9850 3100 0    60   Input ~ 0
LM_OUT_B
Text GLabel 5700 4600 0    60   Input ~ 0
RM_OUT_A
Text GLabel 5700 4700 0    60   Input ~ 0
RM_OUT_B
Text GLabel 5700 4200 0    60   Input ~ 0
LM_OUT_A
Text GLabel 5700 4300 0    60   Input ~ 0
LM_OUT_B
Text GLabel 1350 3850 2    60   Input ~ 0
BAT_MEAS
Text GLabel 7500 4000 2    60   Input ~ 0
BAT_MEAS
Text GLabel 7500 4800 2    60   Input ~ 0
SENSOR1
Text GLabel 7500 4700 2    60   Input ~ 0
SENSOR2
Text GLabel 7500 4600 2    60   Input ~ 0
SENSOR3
Text GLabel 7500 4500 2    60   Input ~ 0
SENSOR4
Text GLabel 7500 4400 2    60   Input ~ 0
SENSOR5
Text GLabel 7500 4300 2    60   Input ~ 0
SENSOR6
Text GLabel 7500 4200 2    60   Input ~ 0
SENSOR7
Text GLabel 7500 4100 2    60   Input ~ 0
SENSOR8
Text GLabel 1350 6100 0    60   Input ~ 0
SENSOR1
Text GLabel 1350 6200 0    60   Input ~ 0
SENSOR2
Text GLabel 1350 6300 0    60   Input ~ 0
SENSOR3
Text GLabel 1350 6400 0    60   Input ~ 0
SENSOR4
Text GLabel 1350 6500 0    60   Input ~ 0
SENSOR5
Text GLabel 1350 6600 0    60   Input ~ 0
SENSOR6
Text GLabel 1350 6700 0    60   Input ~ 0
SENSOR7
Text GLabel 1350 6800 0    60   Input ~ 0
SENSOR8
Text GLabel 7500 3900 2    60   Input Italic 0
SENSOR_EN
Text GLabel 1350 6000 0    60   Input Italic 0
SENSOR_EN
Text GLabel 5700 4400 0    60   Input Italic 0
BUZZER
Text GLabel 3100 7150 0    60   Input Italic 0
BUZZER
Text GLabel 7900 1300 2    60   Input Italic 0
LM_PWM
Text GLabel 7950 1900 2    60   Input Italic 0
RM_PWM
Text GLabel 5700 4000 0    60   Input Italic 0
RM_PWM
Text GLabel 5700 3700 0    60   Input Italic 0
LM_PWM
Text GLabel 7950 1800 2    60   Input Italic 0
RM_DIR_2
Text GLabel 7950 1700 2    60   Input Italic 0
RM_DIR_1
Text GLabel 7900 1500 2    60   Input Italic 0
LM_DIR_1
Text GLabel 7900 1400 2    60   Input Italic 0
LM_DIR_2
Text GLabel 5700 4100 0    60   Input Italic 0
LM_DIR_2
Text GLabel 5700 4500 0    60   Input Italic 0
LM_DIR_1
Text GLabel 5700 3900 0    60   Input Italic 0
USART_RX
Text GLabel 5700 3800 0    60   Input Italic 0
USART_TX
Text GLabel 3250 5700 0    60   Input Italic 0
USART_RX
Text GLabel 3250 5600 0    60   Input Italic 0
USART_TX
Text GLabel 5100 3300 0    60   Input ~ 0
BT1
Text GLabel 7500 4900 2    60   Input ~ 0
BT2
Text GLabel 7500 5000 2    60   Input ~ 0
BT3
Text GLabel 9450 6100 0    60   Input ~ 0
BT1
Text GLabel 9450 6200 0    60   Input ~ 0
BT2
NoConn ~ 3550 5500
NoConn ~ 3550 6000
$Comp
L line_follower-cache:LED D2
U 1 1 5AFDD8D4
P 3300 3450
F 0 "D2" H 3450 3350 50  0000 C CNN
F 1 "LED" H 3300 3350 50  0000 C CNN
F 2 "line_follower:LED_D5.0mm" H 3300 3450 60  0001 C CNN
F 3 "" H 3300 3450 60  0000 C CNN
	1    3300 3450
	0    1    1    0   
$EndComp
$Comp
L line_follower-cache:LED D1
U 1 1 5AFDDA6C
P 3050 3450
F 0 "D1" H 3200 3350 50  0000 C CNN
F 1 "LED" H 3050 3350 50  0000 C CNN
F 2 "line_follower:LED_D5.0mm" H 3050 3450 60  0001 C CNN
F 3 "" H 3050 3450 60  0000 C CNN
	1    3050 3450
	0    1    1    0   
$EndComp
$Comp
L line_follower-cache:R R7
U 1 1 5AFDDAEB
P 3300 4000
F 0 "R7" V 3200 4000 40  0000 C CNN
F 1 "100" V 3307 4001 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 3230 4000 30  0001 C CNN
F 3 "" H 3300 4000 30  0000 C CNN
	1    3300 4000
	-1   0    0    1   
$EndComp
$Comp
L line_follower-cache:R R6
U 1 1 5AFDDB80
P 3050 4000
F 0 "R6" V 3130 4000 40  0000 C CNN
F 1 "100" V 3057 4001 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 2980 4000 30  0001 C CNN
F 3 "" H 3050 4000 30  0000 C CNN
	1    3050 4000
	1    0    0    -1  
$EndComp
Text GLabel 7500 5100 2    60   Input ~ 0
GLED
Text GLabel 5650 3300 0    60   Input ~ 0
RLED
Text GLabel 2950 3150 0    60   Input ~ 0
GLED
Text GLabel 2950 3000 0    60   Input ~ 0
RLED
Text GLabel 5450 7100 0    60   Input ~ 0
SDA
Text GLabel 5450 7200 0    60   Input ~ 0
SCL
Text GLabel 5450 6800 0    60   Input ~ 0
MISO
Text GLabel 5450 6900 0    60   Input ~ 0
MOSI
Text GLabel 5450 7000 0    60   Input ~ 0
SCK
Text GLabel 5100 3400 0    60   Input ~ 0
SCK
Text GLabel 5650 3500 0    60   Input ~ 0
MISO
Text GLabel 5650 3600 0    60   Input ~ 0
MOSI
Text GLabel 7500 3700 2    60   Input ~ 0
SDA
Text GLabel 7500 3800 2    60   Input ~ 0
SCL
$Comp
L line_follower-cache:JUMPER JP1
U 1 1 5B0C6C4E
P 9850 6100
F 0 "JP1" H 9850 6250 60  0000 C CNN
F 1 "JUMPER" H 9850 6050 40  0000 C CNN
F 2 "line_follower:Pin_Header_Straight_1x02_Pitch2.54mm" H 9850 6100 60  0001 C CNN
F 3 "" H 9850 6100 60  0000 C CNN
	1    9850 6100
	1    0    0    -1  
$EndComp
Text GLabel 5700 4800 0    60   Input Italic 0
RM_DIR_1
Text GLabel 5700 4900 0    60   Input Italic 0
RM_DIR_2
$Comp
L line_follower-cache:CAPAPOL C1
U 1 1 5AFDE8D4
P 3800 1650
F 0 "C1" H 3850 1750 40  0000 L CNN
F 1 ">=33uF" H 3850 1550 40  0000 L CNN
F 2 "line_follower:CP_Radial_D6.3mm_P2.50mm" H 3900 1500 30  0001 C CNN
F 3 "" H 3800 1650 300 0000 C CNN
	1    3800 1650
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:R R1
U 1 1 5B4D0B9A
P 10200 5150
F 0 "R1" V 10100 5150 40  0000 C CNN
F 1 "100" V 10207 5151 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 10130 5150 30  0001 C CNN
F 3 "" H 10200 5150 30  0000 C CNN
	1    10200 5150
	-1   0    0    1   
$EndComp
$Comp
L line_follower-cache:R R2
U 1 1 5B4D0C0C
P 10450 5150
F 0 "R2" V 10350 5150 40  0000 C CNN
F 1 "100" V 10457 5151 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 10380 5150 30  0001 C CNN
F 3 "" H 10450 5150 30  0000 C CNN
	1    10450 5150
	-1   0    0    1   
$EndComp
$Comp
L line_follower-cache:R R3
U 1 1 5B4D0C54
P 10700 5150
F 0 "R3" V 10600 5150 40  0000 C CNN
F 1 "100" V 10707 5151 40  0000 C CNN
F 2 "line_follower:R_Axial_DIN0204_L3.6mm_D1.6mm_P7.62mm_Horizontal" V 10630 5150 30  0001 C CNN
F 3 "" H 10700 5150 30  0000 C CNN
	1    10700 5150
	-1   0    0    1   
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR01
U 1 1 5B5220D9
P 3150 1350
F 0 "#PWR01" H 3150 1200 50  0001 C CNN
F 1 "+3V3" H 3150 1490 50  0000 C CNN
F 2 "" H 3150 1350 50  0001 C CNN
F 3 "" H 3150 1350 50  0001 C CNN
	1    3150 1350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+9V #PWR02
U 1 1 5B52217A
P 4850 1300
F 0 "#PWR02" H 4850 1150 50  0001 C CNN
F 1 "+9V" H 4850 1440 50  0000 C CNN
F 2 "" H 4850 1300 50  0001 C CNN
F 3 "" H 4850 1300 50  0001 C CNN
	1    4850 1300
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+9V #PWR03
U 1 1 5B5223FE
P 6250 1200
F 0 "#PWR03" H 6250 1050 50  0001 C CNN
F 1 "+9V" H 6250 1340 50  0000 C CNN
F 2 "" H 6250 1200 50  0001 C CNN
F 3 "" H 6250 1200 50  0001 C CNN
	1    6250 1200
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR04
U 1 1 5B5225B4
P 6450 1200
F 0 "#PWR04" H 6450 1050 50  0001 C CNN
F 1 "+3V3" H 6450 1340 50  0000 C CNN
F 2 "" H 6450 1200 50  0001 C CNN
F 3 "" H 6450 1200 50  0001 C CNN
	1    6450 1200
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR05
U 1 1 5B52285A
P 6550 2050
F 0 "#PWR05" H 6550 1800 50  0001 C CNN
F 1 "GND" H 6550 1900 50  0000 C CNN
F 2 "" H 6550 2050 50  0001 C CNN
F 3 "" H 6550 2050 50  0001 C CNN
	1    6550 2050
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR06
U 1 1 5B522953
P 7750 2050
F 0 "#PWR06" H 7750 1800 50  0001 C CNN
F 1 "GND" H 7750 1900 50  0000 C CNN
F 2 "" H 7750 2050 50  0001 C CNN
F 3 "" H 7750 2050 50  0001 C CNN
	1    7750 2050
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR07
U 1 1 5B523915
P 10050 2000
F 0 "#PWR07" H 10050 1750 50  0001 C CNN
F 1 "GND" H 10050 1850 50  0000 C CNN
F 2 "" H 10050 2000 50  0001 C CNN
F 3 "" H 10050 2000 50  0001 C CNN
	1    10050 2000
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR08
U 1 1 5B523B21
P 9900 1400
F 0 "#PWR08" H 9900 1250 50  0001 C CNN
F 1 "+3V3" H 9900 1540 50  0000 C CNN
F 2 "" H 9900 1400 50  0001 C CNN
F 3 "" H 9900 1400 50  0001 C CNN
	1    9900 1400
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR09
U 1 1 5B52417B
P 10050 3600
F 0 "#PWR09" H 10050 3350 50  0001 C CNN
F 1 "GND" H 10050 3450 50  0000 C CNN
F 2 "" H 10050 3600 50  0001 C CNN
F 3 "" H 10050 3600 50  0001 C CNN
	1    10050 3600
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR010
U 1 1 5B524285
P 9950 2950
F 0 "#PWR010" H 9950 2800 50  0001 C CNN
F 1 "+3V3" H 9950 3090 50  0000 C CNN
F 2 "" H 9950 2950 50  0001 C CNN
F 3 "" H 9950 2950 50  0001 C CNN
	1    9950 2950
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR011
U 1 1 5B5246FB
P 3300 4400
F 0 "#PWR011" H 3300 4150 50  0001 C CNN
F 1 "GND" H 3300 4250 50  0000 C CNN
F 2 "" H 3300 4400 50  0001 C CNN
F 3 "" H 3300 4400 50  0001 C CNN
	1    3300 4400
	1    0    0    -1  
$EndComp
Text GLabel 9450 6300 0    60   Input ~ 0
BT3
$Comp
L line_follower-cache:+3V3 #PWR012
U 1 1 5B524E93
P 10450 4700
F 0 "#PWR012" H 10450 4550 50  0001 C CNN
F 1 "+3V3" H 10450 4840 50  0000 C CNN
F 2 "" H 10450 4700 50  0001 C CNN
F 3 "" H 10450 4700 50  0001 C CNN
	1    10450 4700
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_11 P1
U 1 1 5B5258B8
P 1900 6300
F 0 "P1" V 1850 6300 60  0000 C CNN
F 1 "QTR-8A" V 1950 6300 60  0000 C CNN
F 2 "line_follower:Pin_Header_Straight_1x11_Pitch2.54mm" H 1900 6300 60  0001 C CNN
F 3 "" H 1900 6300 60  0000 C CNN
	1    1900 6300
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_7 P3
U 1 1 5B5264EE
P 6100 6900
F 0 "P3" V 6070 6900 60  0000 C CNN
F 1 "EXP HEADER" V 6170 6900 60  0000 C CNN
F 2 "line_follower:Header" H 6100 6900 60  0001 C CNN
F 3 "" H 6100 6900 60  0000 C CNN
	1    6100 6900
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_6 P2
U 1 1 5B526F52
P 3900 5750
F 0 "P2" V 3850 5750 60  0000 C CNN
F 1 "HC-05" V 3950 5750 60  0000 C CNN
F 2 "line_follower:HC-05" H 3900 5750 60  0001 C CNN
F 3 "" H 3900 5750 60  0000 C CNN
	1    3900 5750
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR013
U 1 1 5B52755B
P 3350 5450
F 0 "#PWR013" H 3350 5300 50  0001 C CNN
F 1 "+3V3" H 3350 5590 50  0000 C CNN
F 2 "" H 3350 5450 50  0001 C CNN
F 3 "" H 3350 5450 50  0001 C CNN
	1    3350 5450
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR014
U 1 1 5B5275DD
P 3450 6050
F 0 "#PWR014" H 3450 5800 50  0001 C CNN
F 1 "GND" H 3450 5900 50  0000 C CNN
F 2 "" H 3450 6050 50  0001 C CNN
F 3 "" H 3450 6050 50  0001 C CNN
	1    3450 6050
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR015
U 1 1 5B527F7F
P 5600 6450
F 0 "#PWR015" H 5600 6300 50  0001 C CNN
F 1 "+3V3" H 5600 6590 50  0000 C CNN
F 2 "" H 5600 6450 50  0001 C CNN
F 3 "" H 5600 6450 50  0001 C CNN
	1    5600 6450
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR016
U 1 1 5B527FDF
P 5700 7350
F 0 "#PWR016" H 5700 7100 50  0001 C CNN
F 1 "GND" H 5700 7200 50  0000 C CNN
F 2 "" H 5700 7350 50  0001 C CNN
F 3 "" H 5700 7350 50  0001 C CNN
	1    5700 7350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR017
U 1 1 5B52891F
P 1450 6900
F 0 "#PWR017" H 1450 6650 50  0001 C CNN
F 1 "GND" H 1450 6750 50  0000 C CNN
F 2 "" H 1450 6900 50  0001 C CNN
F 3 "" H 1450 6900 50  0001 C CNN
	1    1450 6900
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR018
U 1 1 5B52895D
P 1350 5650
F 0 "#PWR018" H 1350 5500 50  0001 C CNN
F 1 "+3V3" H 1350 5790 50  0000 C CNN
F 2 "" H 1350 5650 50  0001 C CNN
F 3 "" H 1350 5650 50  0001 C CNN
	1    1350 5650
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_3 K1
U 1 1 5B52AA11
P 3750 7150
F 0 "K1" V 3700 7150 50  0000 C CNN
F 1 "BUZZER" V 3800 7150 40  0000 C CNN
F 2 "line_follower:Buzzer" H 3750 7150 60  0001 C CNN
F 3 "" H 3750 7150 60  0000 C CNN
	1    3750 7150
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR019
U 1 1 5B52AB3C
P 3350 7350
F 0 "#PWR019" H 3350 7100 50  0001 C CNN
F 1 "GND" H 3350 7200 50  0000 C CNN
F 2 "" H 3350 7350 50  0001 C CNN
F 3 "" H 3350 7350 50  0001 C CNN
	1    3350 7350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR020
U 1 1 5B52AD2C
P 3250 6950
F 0 "#PWR020" H 3250 6800 50  0001 C CNN
F 1 "+3V3" H 3250 7090 50  0000 C CNN
F 2 "" H 3250 6950 50  0001 C CNN
F 3 "" H 3250 6950 50  0001 C CNN
	1    3250 6950
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_6 P4
U 1 1 5B52B33C
P 10500 3250
F 0 "P4" V 10450 3250 60  0000 C CNN
F 1 "LEFT MOTOR" V 10550 3250 60  0000 C CNN
F 2 "line_follower:pololu_magnetic_encoder" H 10500 3250 60  0001 C CNN
F 3 "" H 10500 3250 60  0000 C CNN
	1    10500 3250
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_6 P5
U 1 1 5B52B57F
P 10450 1650
F 0 "P5" V 10400 1650 60  0000 C CNN
F 1 "RIGHT MOTOR" V 10500 1650 60  0000 C CNN
F 2 "line_follower:pololu_magnetic_encoder" H 10450 1650 60  0001 C CNN
F 3 "" H 10450 1650 60  0000 C CNN
	1    10450 1650
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR021
U 1 1 5B52B79E
P 950 1800
F 0 "#PWR021" H 950 1550 50  0001 C CNN
F 1 "GND" H 950 1650 50  0000 C CNN
F 2 "" H 950 1800 50  0001 C CNN
F 3 "" H 950 1800 50  0001 C CNN
	1    950  1800
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR022
U 1 1 5B52B945
P 1100 4500
F 0 "#PWR022" H 1100 4250 50  0001 C CNN
F 1 "GND" H 1100 4350 50  0000 C CNN
F 2 "" H 1100 4500 50  0001 C CNN
F 3 "" H 1100 4500 50  0001 C CNN
	1    1100 4500
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR023
U 1 1 5B52BD23
P 7550 3350
F 0 "#PWR023" H 7550 3200 50  0001 C CNN
F 1 "+3V3" H 7550 3490 50  0000 C CNN
F 2 "" H 7550 3350 50  0001 C CNN
F 3 "" H 7550 3350 50  0001 C CNN
	1    7550 3350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR024
U 1 1 5B52BF82
P 7350 5300
F 0 "#PWR024" H 7350 5050 50  0001 C CNN
F 1 "GND" H 7350 5150 50  0000 C CNN
F 2 "" H 7350 5300 50  0001 C CNN
F 3 "" H 7350 5300 50  0001 C CNN
	1    7350 5300
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR025
U 1 1 5B52C1E4
P 5050 5100
F 0 "#PWR025" H 5050 4950 50  0001 C CNN
F 1 "+3V3" H 5050 5240 50  0000 C CNN
F 2 "" H 5050 5100 50  0001 C CNN
F 3 "" H 5050 5100 50  0001 C CNN
	1    5050 5100
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR026
U 1 1 5B52C3E5
P 5750 5300
F 0 "#PWR026" H 5750 5050 50  0001 C CNN
F 1 "GND" H 5750 5150 50  0000 C CNN
F 2 "" H 5750 5300 50  0001 C CNN
F 3 "" H 5750 5300 50  0001 C CNN
	1    5750 5300
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:U3V12F9 U2
U 1 1 5A625703
P 4300 1400
F 0 "U2" H 4000 1700 60  0001 C CNN
F 1 "U3V12F9" H 4300 1650 60  0000 C CNN
F 2 "line_follower:u3v12f9" H 3900 1100 60  0001 C CNN
F 3 "" H 3900 1100 60  0000 C CNN
	1    4300 1400
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:STM32F103C8T6 U6
U 1 1 5A625559
P 6500 4350
F 0 "U6" H 5850 5600 60  0001 C CNN
F 1 "STM32F103C8T6" H 6800 5600 60  0000 C CNN
F 2 "line_follower:BluePill_STM32F103C" H 6700 5200 60  0001 C CNN
F 3 "~" H 6700 5200 60  0000 C CNN
	1    6500 4350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+3V3 #PWR027
U 1 1 5B52D9C7
P 7800 1200
F 0 "#PWR027" H 7800 1050 50  0001 C CNN
F 1 "+3V3" H 7800 1340 50  0000 C CNN
F 2 "" H 7800 1200 50  0001 C CNN
F 3 "" H 7800 1200 50  0001 C CNN
	1    7800 1200
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:SW_PUSH SW1
U 1 1 5A65D67A
P 10200 5750
F 0 "SW1" V 10400 5850 50  0000 C CNN
F 1 "SW_PUSH" H 10200 5670 50  0001 C CNN
F 2 "line_follower:SW_PUSH_6mm_h5mm" H 10200 5750 60  0001 C CNN
F 3 "~" H 10200 5750 60  0000 C CNN
	1    10200 5750
	0    -1   -1   0   
$EndComp
$Comp
L line_follower-cache:+BATT #PWR028
U 1 1 5B531029
P 1100 3100
F 0 "#PWR028" H 1100 2950 50  0001 C CNN
F 1 "+BATT" H 1100 3240 50  0000 C CNN
F 2 "" H 1100 3100 50  0001 C CNN
F 3 "" H 1100 3100 50  0001 C CNN
	1    1100 3100
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:CONN_2 P6
U 1 1 5B53131C
P 1300 1450
F 0 "P6" V 1250 1450 40  0000 C CNN
F 1 "BATTERY" V 1350 1450 40  0000 C CNN
F 2 "line_follower:2S_LiPo" H 1300 1450 60  0001 C CNN
F 3 "" H 1300 1450 60  0000 C CNN
	1    1300 1450
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+BATT #PWR029
U 1 1 5B53144E
P 950 1200
F 0 "#PWR029" H 950 1050 50  0001 C CNN
F 1 "+BATT" H 950 1340 50  0000 C CNN
F 2 "" H 950 1200 50  0001 C CNN
F 3 "" H 950 1200 50  0001 C CNN
	1    950  1200
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+BATT #PWR030
U 1 1 5B531696
P 2050 1350
F 0 "#PWR030" H 2050 1200 50  0001 C CNN
F 1 "+BATT" H 2050 1490 50  0000 C CNN
F 2 "" H 2050 1350 50  0001 C CNN
F 3 "" H 2050 1350 50  0001 C CNN
	1    2050 1350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR031
U 1 1 5B5325B4
P 2600 1750
F 0 "#PWR031" H 2600 1500 50  0001 C CNN
F 1 "GND" H 2600 1600 50  0000 C CNN
F 2 "" H 2600 1750 50  0001 C CNN
F 3 "" H 2600 1750 50  0001 C CNN
	1    2600 1750
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:+BATT #PWR032
U 1 1 5B532F7B
P 3800 1350
F 0 "#PWR032" H 3800 1200 50  0001 C CNN
F 1 "+BATT" H 3800 1490 50  0000 C CNN
F 2 "" H 3800 1350 50  0001 C CNN
F 3 "" H 3800 1350 50  0001 C CNN
	1    3800 1350
	1    0    0    -1  
$EndComp
$Comp
L line_follower-cache:GND #PWR033
U 1 1 5B5334B8
P 4050 1950
F 0 "#PWR033" H 4050 1700 50  0001 C CNN
F 1 "GND" H 4050 1800 50  0000 C CNN
F 2 "" H 4050 1950 50  0001 C CNN
F 3 "" H 4050 1950 50  0001 C CNN
	1    4050 1950
	1    0    0    -1  
$EndComp
Text Notes 9550 850  0    118  ~ 24
Right Motor
Text Notes 9600 2650 0    118  ~ 24
Left Motor
Wire Wire Line
	7900 1300 7700 1300
Wire Wire Line
	7700 1900 7950 1900
Wire Wire Line
	1100 3100 1100 3300
Wire Wire Line
	1100 3800 1100 3850
Connection ~ 1100 3850
Wire Wire Line
	1100 3850 1350 3850
Wire Wire Line
	7500 4000 7200 4000
Wire Wire Line
	7500 4100 7200 4100
Wire Wire Line
	7200 4200 7500 4200
Wire Wire Line
	7500 4300 7200 4300
Wire Wire Line
	7200 4400 7500 4400
Wire Wire Line
	7500 4500 7200 4500
Wire Wire Line
	7200 4600 7500 4600
Wire Wire Line
	7500 4700 7200 4700
Wire Wire Line
	7200 4800 7500 4800
Wire Wire Line
	7500 3900 7200 3900
Wire Wire Line
	3100 7150 3400 7150
Wire Wire Line
	5800 4400 5700 4400
Wire Wire Line
	7700 1800 7950 1800
Wire Wire Line
	7950 1700 7700 1700
Wire Wire Line
	7900 1400 7700 1400
Wire Wire Line
	7900 1500 7700 1500
Wire Wire Line
	5700 3900 5800 3900
Wire Wire Line
	5800 3800 5700 3800
Wire Wire Line
	7500 4900 7200 4900
Wire Wire Line
	7500 5000 7200 5000
Wire Wire Line
	3050 3650 3050 3750
Wire Wire Line
	3300 3650 3300 3750
Wire Wire Line
	3300 4250 3300 4350
Wire Wire Line
	3050 4250 3050 4350
Wire Wire Line
	5650 3300 5800 3300
Wire Wire Line
	7200 5100 7500 5100
Wire Wire Line
	3050 3150 3050 3250
Wire Wire Line
	2950 3000 3300 3000
Wire Wire Line
	3300 3000 3300 3250
Wire Wire Line
	2950 3150 3050 3150
Wire Wire Line
	5800 3700 5700 3700
Wire Wire Line
	5800 4000 5700 4000
Wire Wire Line
	5100 3400 5250 3400
Wire Wire Line
	5250 3400 5250 3300
Wire Wire Line
	5250 3300 5100 3300
Connection ~ 5250 3400
Wire Wire Line
	5650 3500 5800 3500
Wire Wire Line
	5800 3600 5650 3600
Wire Wire Line
	5800 4200 5700 4200
Wire Wire Line
	5700 4300 5800 4300
Wire Wire Line
	5700 4600 5800 4600
Wire Wire Line
	5700 4700 5800 4700
Wire Wire Line
	7200 3800 7500 3800
Wire Wire Line
	7500 3700 7200 3700
Wire Wire Line
	9450 6100 9550 6100
Wire Wire Line
	5700 4100 5800 4100
Wire Wire Line
	5700 4500 5800 4500
Wire Wire Line
	5700 4800 5800 4800
Wire Wire Line
	5700 4900 5800 4900
Wire Wire Line
	6550 1300 6550 2000
Wire Wire Line
	6550 2000 6600 2000
Wire Wire Line
	7700 1600 7800 1600
Wire Wire Line
	6100 1800 6600 1800
Wire Wire Line
	6600 1500 6100 1500
Wire Wire Line
	6100 1600 6600 1600
Wire Wire Line
	6600 1700 6100 1700
Wire Wire Line
	6600 1300 6550 1300
Connection ~ 6550 2000
Wire Wire Line
	6600 1400 6450 1400
Wire Wire Line
	6450 1400 6450 1200
Wire Wire Line
	6600 1900 6250 1900
Wire Wire Line
	6250 1900 6250 1200
Wire Wire Line
	10100 1400 10050 1400
Wire Wire Line
	10050 1400 10050 2000
Wire Wire Line
	10100 1700 9900 1700
Wire Wire Line
	9900 1700 9900 1400
Wire Wire Line
	10100 1500 9750 1500
Wire Wire Line
	9750 1600 10100 1600
Wire Wire Line
	10100 1800 9750 1800
Wire Wire Line
	9750 1900 10100 1900
Wire Wire Line
	10050 3600 10050 3000
Wire Wire Line
	10050 3000 10150 3000
Wire Wire Line
	10150 3300 9950 3300
Wire Wire Line
	9950 3300 9950 2950
Wire Wire Line
	9850 3100 10150 3100
Wire Wire Line
	10150 3200 9850 3200
Wire Wire Line
	9850 3400 10150 3400
Wire Wire Line
	10150 3500 9850 3500
Wire Wire Line
	3050 4350 3300 4350
Connection ~ 3300 4350
Wire Wire Line
	5450 6800 5750 6800
Wire Wire Line
	5450 6900 5750 6900
Wire Wire Line
	5450 7000 5750 7000
Wire Wire Line
	5450 7100 5750 7100
Wire Wire Line
	5450 7200 5750 7200
Wire Wire Line
	3250 5700 3550 5700
Wire Wire Line
	3550 5600 3250 5600
Wire Wire Line
	3450 6050 3450 5800
Wire Wire Line
	3450 5800 3550 5800
Wire Wire Line
	3350 5450 3350 5900
Wire Wire Line
	3350 5900 3550 5900
Wire Wire Line
	5750 6600 5700 6600
Wire Wire Line
	5700 6600 5700 7350
Wire Wire Line
	5750 6700 5600 6700
Wire Wire Line
	5600 6700 5600 6450
Wire Wire Line
	1550 5800 1450 5800
Wire Wire Line
	1450 5800 1450 6900
Wire Wire Line
	1550 5900 1350 5900
Wire Wire Line
	1350 5900 1350 5650
Wire Wire Line
	1350 6800 1550 6800
Wire Wire Line
	1550 6700 1350 6700
Wire Wire Line
	1350 6600 1550 6600
Wire Wire Line
	1550 6500 1350 6500
Wire Wire Line
	1350 6400 1550 6400
Wire Wire Line
	1550 6300 1350 6300
Wire Wire Line
	1350 6200 1550 6200
Wire Wire Line
	1550 6100 1350 6100
Wire Wire Line
	1350 6000 1550 6000
Wire Wire Line
	10150 6100 10200 6100
Wire Wire Line
	10450 6200 9450 6200
Wire Wire Line
	9450 6300 10700 6300
Wire Wire Line
	10200 4900 10200 4800
Wire Wire Line
	10200 4800 10450 4800
Wire Wire Line
	10700 4800 10700 4900
Wire Wire Line
	10450 4700 10450 4800
Connection ~ 10450 4800
Wire Wire Line
	3350 7350 3350 7050
Wire Wire Line
	3350 7050 3400 7050
Wire Wire Line
	3250 6950 3250 7250
Wire Wire Line
	3250 7250 3400 7250
Wire Wire Line
	1100 4500 1100 4400
Wire Wire Line
	950  1550 950  1800
Wire Wire Line
	7200 3500 7550 3500
Wire Wire Line
	7550 3500 7550 3350
Wire Wire Line
	7350 5300 7350 3400
Wire Wire Line
	7350 3300 7200 3300
Wire Wire Line
	7200 3400 7350 3400
Connection ~ 7350 3400
Wire Wire Line
	5050 5200 5800 5200
Wire Wire Line
	5050 5200 5050 5100
Wire Wire Line
	5750 5300 5750 5100
Wire Wire Line
	5750 5100 5800 5100
Wire Wire Line
	7700 2000 7750 2000
Wire Wire Line
	7750 2000 7750 2050
Wire Wire Line
	7800 1600 7800 1200
Wire Wire Line
	10200 5450 10200 5400
Wire Wire Line
	10450 5400 10450 5450
Wire Wire Line
	10700 5400 10700 5450
Wire Wire Line
	10200 6100 10200 6050
Wire Wire Line
	10450 6200 10450 6050
Wire Wire Line
	10700 6300 10700 6050
Wire Wire Line
	4750 1400 4850 1400
Wire Wire Line
	4850 1400 4850 1300
Wire Wire Line
	950  1350 950  1200
Wire Wire Line
	2600 1750 2600 1700
Connection ~ 2600 1700
Wire Wire Line
	3100 1400 3150 1400
Wire Wire Line
	3150 1400 3150 1350
Wire Wire Line
	2100 1400 2050 1400
Wire Wire Line
	2050 1400 2050 1350
Wire Wire Line
	2100 1500 2050 1500
Wire Wire Line
	2050 1500 2050 1700
Wire Wire Line
	2050 1700 2600 1700
Wire Wire Line
	3150 1700 3150 1500
Wire Wire Line
	3150 1500 3100 1500
Wire Wire Line
	3800 1350 3800 1400
Wire Wire Line
	3850 1400 3800 1400
Connection ~ 3800 1400
Wire Wire Line
	4300 1700 4300 1900
Wire Wire Line
	4300 1900 4050 1900
Wire Wire Line
	3800 1900 3800 1850
Wire Wire Line
	4050 1950 4050 1900
Connection ~ 4050 1900
Wire Notes Line
	8850 500  8850 6500
Wire Notes Line
	8850 4150 11200 4150
Wire Notes Line
	11200 2350 8850 2350
Wire Notes Line
	500  2350 8800 2350
Wire Notes Line
	5350 2350 5350 500 
Text Notes 6600 800  0    118  ~ 24
Motor Driver
Text Notes 9750 4400 0    118  ~ 24
Keypad
Wire Notes Line
	3350 2350 3350 500 
Wire Notes Line
	1750 2350 1750 500 
Text Notes 3850 750  0    118  ~ 24
9V Supply
Text Notes 2050 750  0    118  ~ 24
3.3V Supply
Text Notes 800  750  0    118  ~ 24
Battery
Wire Notes Line
	2200 2350 2200 4800
Wire Notes Line
	500  4800 4000 4800
Wire Notes Line
	4000 4800 4000 2350
Text Notes 700  2750 0    118  ~ 24
Battery\nMeasurement
Text Notes 2900 2700 0    118  ~ 24
LEDs
Wire Notes Line
	2450 4800 2450 7800
Wire Notes Line
	4050 4800 4450 4800
Wire Notes Line
	4450 4800 4450 7800
Wire Notes Line
	2450 6350 4450 6350
Text Notes 950  5150 0    118  ~ 24
Sensor Array
Text Notes 3100 5100 0    118  ~ 24
Bluetooth
Text Notes 3100 6600 0    118  ~ 24
Buzzer
Wire Notes Line
	4450 5800 7000 5800
Wire Notes Line
	7000 5800 7000 6550
Text Notes 5000 6050 0    118  ~ 24
Expansion Header
Text Notes 6250 2750 0    118  ~ 24
MCU
$Comp
L line_follower-cache:AMS1117-3.3 U1
U 1 1 5B547E24
P 2600 1450
F 0 "U1" H 2300 1700 60  0000 C CNN
F 1 "AMS1117-3.3" H 2700 1700 60  0000 C CNN
F 2 "line_follower:AMS1117-3.3" H 2200 1150 60  0001 C CNN
F 3 "" H 2200 1150 60  0000 C CNN
	1    2600 1450
	1    0    0    -1  
$EndComp
Wire Wire Line
	1100 3850 1100 3900
Wire Wire Line
	5250 3400 5800 3400
Wire Wire Line
	6550 2000 6550 2050
Wire Wire Line
	3300 4350 3300 4400
Wire Wire Line
	10450 4800 10700 4800
Wire Wire Line
	10450 4800 10450 4900
Wire Wire Line
	7350 3400 7350 3300
Wire Wire Line
	2600 1700 3150 1700
Wire Wire Line
	3800 1400 3800 1450
Wire Wire Line
	4050 1900 3800 1900
$EndSCHEMATC