+5

+5 R5 +5

U4 100K

7
1
IN f rom sensor +5 R7
1 3 R2 1K 1K
+
J1 6 U2 J3

8
+5 2
-
LM741 R4 4 3 1
D1 1K RST OUT 2

VCC

4
5
+5 R1 LED 5 7 D2 R8 out to minsis
Q2 CV DSCHG 1K2
20K BD139
-5 LED
J4 R3 2 6

GND
1 220 TRG THR
2

1
3 C1 NE555 C2 R6
0.01uF 4.7uF 220
Supply
-5
IC1 +5
1 28
2 PC6 (RESET)(SCL/ADC5) PC5 27 U3 C4
3 PD0 (RxD) (SDA/ADC4) PC4 26 J5 C3
4 PD1 (TxD) (ADC3) PC3 25 4 5 2 D7 D8 D9 D10 CAP NP CAP NP
5 PD2 (INT0) (ADC2) PC2 24 3 7 1A1 1Y1 3
6 PD3 (INT1) (ADC1) PC1 23 2 1A2 1Y2 DIODEDIODEDIODE DIODE
J7 7 PD4 (XCK/T0) (ADC0) PC0 22 1 10 13 J6
4 8 VCC AGND 21 12 2A1 2Y1 14
3 9 GND AREF 20 2A2 2Y2 1
2 10 PB6 (XT1/TOSC1) AVCC 19 input f rom mikro 1 2
1 11 PB7 (XT2/TOSC2) (SCK) PB5 18 15 1E 3
12 PD5 (T1) (MISO) PB4 17 +5 2E 4
13 PD6 (AIN0) (OC2/MOSI) PB3 16 6
to driv er motor 14 PD7 (AIN1) (SS/OC1B) PB2 15 11 1EN
PB0 (ICP) (OC1A) PB1 2EN D3 D4 D5 D6 out to motor
ATmega328 9
C6 4 VCC1 DIODEDIODEDIODE DIODE
GND

C5 VCC2
+5 CAP NP
IC1 R15
8

POT L298
1 28 CAP NP
2 PC6 (RESET)(SCL/ADC5) PC5 27
3 PD0 (RxD) (SDA/ADC4) PC4 26
4 PD1 (TxD) (ADC3) PC3 25
5 PD2 (INT0) (ADC2) PC2 24 J16 +5
6 PD3 (INT1) (ADC1) PC1 23 1
7 PD4 (XCK/T0) (ADC0) PC0 22 +5
8 VCC AGND 21 IN monostabil
Q1 GND AREF
PNP BCE 9 20 R14 R9 R10 R11 R12 R13
10 PB6 (XT1/TOSC1) AVCC 19 R R R R R R
11 PB7 (XT2/TOSC2) (SCK) PB5 18
12 PD5 (T1) (MISO) PB4 17
13 PD6 (AIN0) (OC2/MOSI) PB3 16
14 PD7 (AIN1) (SS/OC1B) PB2 15
PB0 (ICP) (OC1A) PB1

ATmega328
a2 down a4 setting
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1

a1 up a5 upsisa 12 down sisa

J2 a3 start reset

to LCD
 LCD2(VDD)
R7(2)
LCD2
LM016L
R7
10k
VDD
VSS

VEE

RW
RS

D0
D1
D2
D3
D4
D5
D6
D7
E
1
2
3

4
5
6

7
8
9
10
11
12
13
14

RV1
D6(K)
ARD1
50%

ARD2 Q2
PNP C2(2)
1k

ON
Reset BTN

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ON
Reset BTN

AREF
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(2) R6(2) R1(2) R2(2) R3(2) R4(2)

13
AREF PB5/SCK
12
RESET PB4/MISO
13 11
PB5/SCK ~PB3/MOSI/OC2A
12 10
RESET PB4/MISO VCC ~PB2/SS/OC1B
11 9
~PB3/MOSI/OC2A GND ~ PB1/OC1A 8 C1 C2
10 PB0/ICP1/CLKO
R6 VCC ~PB2/SS/OC1B R1 R2 R3 R4 1nF 1nF
9
~ PB1/OC1A

ATMEGA328P-PU
1121
10k GND 8 10k 10k 10k 10k 7 U1

ANALOG IN
PB0/ICP1/CLKO PD7/AIN1 9 4 C3
6
~ PD6/AIN0 C4
ATMEGA328P-PU

A0
1121

7 PC0/ADC0 5 1nF
ANALOG IN

PD7/AIN1 A1 ~ PD5/T1 5 D5 D6 D7 D8 1nF

6 PC1/ADC1 4 IN1 VCC VS
A0 ~ PD6/AIN0 A2 PD4/T0/XCK 7 2 1M200ZS5 1M200ZS5 1M200ZS5 1M200ZS5
PC0/ADC0 5 PC2/ADC2 3 IN2 OUT1
A1 ~ PD5/T1 A3 ~ PD3/INT1 10
PC1/ADC1 4 PC3/ADC3 2 IN3
A2 PD4/T0/XCK A4 PD2/INT0 12 3
PC2/ADC2 3 PC4/ADC4/SDA 1 IN4 OUT2
A3
PC3/ADC3 ~ PD3/INT1 2
A5
PC5/ADC5/SCL
TX PD1/TXD
0
6
ENA
A4 PD2/INT0 RX PD0/RXD 11 13
PC4/ADC4/SDA 1 ENB OUT3
R9(2) A5 TX PD1/TXD
PC5/ADC5/SCL 0
R5 RX PD0/RXD
ARDUINO UNO
1
SENSA OUT4
14
10k 15
SENSB GND
ARDUINO UNO
8 L298 D1 D2 D3 D4
R9 1M200ZS5 1M200ZS5 1M200ZS5 1M200ZS5
10k
+88.8