EESchema Schematic File Version 4
LIBS:heat_map_robot_servo_rework-cache
EELAYER 26 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title "Obstacle/Heat mapping robot"
Date "2017-11-19"
Rev "0.6"
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L heat_map_robot_servo_rework-rescue:NRF24L01_Breakout-rfcom U4
U 1 1 5A115E94
P 10700 1650
F 0 "U4" H 10700 2250 50  0000 L CNN
F 1 "NRF24L01_Breakout" H 10700 2150 50  0000 L CNN
F 2 "mysensors_radios:NRF24L01-SMD" H 10850 2250 50  0001 L CIN
F 3 "http://www.nordicsemi.com/eng/content/download/2730/34105/file/nRF24L01_Product_Specification_v2_0.pdf" H 6900 2550 50  0001 L CNN
	1    10700 1650
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR01
U 1 1 5A1162AD
P 9350 750
F 0 "#PWR01" H 9350 600 50  0001 C CNN
F 1 "VCC" H 9367 923 50  0000 C CNN
F 2 "" H 9350 750 50  0001 C CNN
F 3 "" H 9350 750 50  0001 C CNN
	1    9350 750 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR02
U 1 1 5A116332
P 10700 2300
F 0 "#PWR02" H 10700 2050 50  0001 C CNN
F 1 "GND" H 10705 2127 50  0000 C CNN
F 2 "" H 10700 2300 50  0001 C CNN
F 3 "" H 10700 2300 50  0001 C CNN
	1    10700 2300
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR03
U 1 1 5A11654D
P 4700 3450
F 0 "#PWR03" H 4700 3200 50  0001 C CNN
F 1 "GND" H 4705 3277 50  0000 C CNN
F 2 "" H 4700 3450 50  0001 C CNN
F 3 "" H 4700 3450 50  0001 C CNN
	1    4700 3450
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR04
U 1 1 5A11664F
P 4700 900
F 0 "#PWR04" H 4700 750 50  0001 C CNN
F 1 "VCC" H 4717 1073 50  0000 C CNN
F 2 "" H 4700 900 50  0001 C CNN
F 3 "" H 4700 900 50  0001 C CNN
	1    4700 900 
	1    0    0    -1  
$EndComp
NoConn ~ 4800 1650
NoConn ~ 6700 1250
NoConn ~ 6700 3350
Text Label 6700 1900 0    60   ~ 0
TS-1
Text Label 6700 2950 0    60   ~ 0
L-1
Text Label 6700 1050 0    60   ~ 0
CHIP_ENABLE
Text Label 6700 1150 0    60   ~ 0
CHIP_SELECT
Text Label 6700 1350 0    60   ~ 0
MOSI
Text Label 6700 1450 0    60   ~ 0
MISO
Text Label 6700 1550 0    60   ~ 0
CLOCK
Text Label 6700 1650 0    60   ~ 0
QUARTZ-1
Text Label 6700 1750 0    60   ~ 0
QUARTZ-2
Text Label 6700 2500 0    60   ~ 0
RESET
$Comp
L heat_map_robot_servo_rework-rescue:MAX31820-sensors U3
U 1 1 5A12078F
P 10650 4400
F 0 "U3" H 10420 4446 50  0000 R CNN
F 1 "MAX31820" H 10420 4355 50  0000 R CNN
F 2 "TO_SOT_Packages_THT:TO-92_Inline_Narrow_Oval" H 9650 4150 50  0001 C CNN
F 3 "http://datasheets.maximintegrated.com/en/ds/MAX31820.pdf" H 10500 4650 50  0001 C CNN
	1    10650 4400
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR07
U 1 1 5A120851
P 10650 4000
F 0 "#PWR07" H 10650 3850 50  0001 C CNN
F 1 "VCC" H 10600 4150 50  0000 C CNN
F 2 "" H 10650 4000 50  0001 C CNN
F 3 "" H 10650 4000 50  0001 C CNN
	1    10650 4000
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR08
U 1 1 5A120864
P 10650 4750
F 0 "#PWR08" H 10650 4500 50  0001 C CNN
F 1 "GND" H 10600 4600 50  0000 C CNN
F 2 "" H 10650 4750 50  0001 C CNN
F 3 "" H 10650 4750 50  0001 C CNN
	1    10650 4750
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:R-device R3
U 1 1 5A1254DB
P 10250 4050
F 0 "R3" V 10043 4050 50  0000 C CNN
F 1 "4.7K" V 10134 4050 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 10180 4050 50  0001 C CNN
F 3 "" H 10250 4050 50  0001 C CNN
	1    10250 4050
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR09
U 1 1 5A12C9BC
P 8650 3850
F 0 "#PWR09" H 8650 3600 50  0001 C CNN
F 1 "GND" H 8600 3700 50  0000 C CNN
F 2 "" H 8650 3850 50  0001 C CNN
F 3 "" H 8650 3850 50  0001 C CNN
	1    8650 3850
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:R-device R2
U 1 1 5A12E126
P 9050 3250
F 0 "R2" V 9257 3250 50  0000 C CNN
F 1 "10k" V 9166 3250 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 8980 3250 50  0001 C CNN
F 3 "" H 9050 3250 50  0001 C CNN
	1    9050 3250
	0    -1   -1   0   
$EndComp
$Comp
L power:VCC #PWR010
U 1 1 5A12E1B0
P 9300 3250
F 0 "#PWR010" H 9300 3100 50  0001 C CNN
F 1 "VCC" V 9250 3400 50  0000 C CNN
F 2 "" H 9300 3250 50  0001 C CNN
F 3 "" H 9300 3250 50  0001 C CNN
	1    9300 3250
	0    1    1    0   
$EndComp
Text Label 8500 5850 2    60   ~ 0
SERVO_PWM-2
Text Label 8500 5250 2    60   ~ 0
SERVO_PWM-1
$Comp
L power:VCC #PWR011
U 1 1 5A13CD77
P 10350 5550
F 0 "#PWR011" H 10350 5400 50  0001 C CNN
F 1 "VCC" V 10367 5678 50  0000 L CNN
F 2 "" H 10350 5550 50  0001 C CNN
F 3 "" H 10350 5550 50  0001 C CNN
	1    10350 5550
	0    1    1    0   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:CP-device C5
U 1 1 5A141CEB
P 9650 5300
F 0 "C5" V 9900 5200 50  0000 C CNN
F 1 "10-47uF" V 9800 5350 50  0000 C CNN
F 2 "Capacitors_Tantalum_SMD:CP_Tantalum_Case-A_EIA-3216-18_Reflow" H 9688 5150 50  0001 C CNN
F 3 "" H 9650 5300 50  0001 C CNN
	1    9650 5300
	0    1    -1   0   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:CP-device C6
U 1 1 5A141D58
P 9650 5800
F 0 "C6" V 9395 5800 50  0000 C CNN
F 1 "10-47uF" V 9500 5900 50  0000 C CNN
F 2 "Capacitors_Tantalum_SMD:CP_Tantalum_Case-A_EIA-3216-18_Reflow" H 9688 5650 50  0001 C CNN
F 3 "" H 9650 5800 50  0001 C CNN
	1    9650 5800
	0    1    1    0   
$EndComp
$Comp
L power:GND #PWR012
U 1 1 5A141EFB
P 9450 5550
F 0 "#PWR012" H 9450 5300 50  0001 C CNN
F 1 "GND" H 9400 5400 50  0000 C CNN
F 2 "" H 9450 5550 50  0001 C CNN
F 3 "" H 9450 5550 50  0001 C CNN
	1    9450 5550
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:LED-device D1
U 1 1 5A15323B
P 7300 4400
F 0 "D1" H 7292 4145 50  0000 C CNN
F 1 "LED" H 7292 4236 50  0000 C CNN
F 2 "LEDs:LED_0805_HandSoldering" H 7300 4400 50  0001 C CNN
F 3 "~" H 7300 4400 50  0001 C CNN
	1    7300 4400
	-1   0    0    1   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:R-device R1
U 1 1 5A15341F
P 7750 4400
F 0 "R1" V 7957 4400 50  0000 C CNN
F 1 "100" V 7866 4400 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 7680 4400 50  0001 C CNN
F 3 "" H 7750 4400 50  0001 C CNN
	1    7750 4400
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR013
U 1 1 5A156994
P 8000 4500
F 0 "#PWR013" H 8000 4250 50  0001 C CNN
F 1 "GND" H 7950 4350 50  0000 C CNN
F 2 "" H 8000 4500 50  0001 C CNN
F 3 "" H 8000 4500 50  0001 C CNN
	1    8000 4500
	1    0    0    -1  
$EndComp
Text Label 6700 2850 0    60   ~ 0
INTERRUPT
$Comp
L heat_map_robot_servo_rework-rescue:Crystal-device Y1
U 1 1 5A15E021
P 5800 4100
F 0 "Y1" H 5800 4368 50  0000 C CNN
F 1 "Crystal" H 5800 4277 50  0000 C CNN
F 2 "Crystals:Crystal_HC49-U_Vertical" H 5800 4100 50  0001 C CNN
F 3 "" H 5800 4100 50  0001 C CNN
	1    5800 4100
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR014
U 1 1 5A15E125
P 5500 4600
F 0 "#PWR014" H 5500 4350 50  0001 C CNN
F 1 "GND" H 5450 4450 50  0000 C CNN
F 2 "" H 5500 4600 50  0001 C CNN
F 3 "" H 5500 4600 50  0001 C CNN
	1    5500 4600
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR015
U 1 1 5A15E14C
P 6100 4600
F 0 "#PWR015" H 6100 4350 50  0001 C CNN
F 1 "GND" H 6050 4450 50  0000 C CNN
F 2 "" H 6100 4600 50  0001 C CNN
F 3 "" H 6100 4600 50  0001 C CNN
	1    6100 4600
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:C-device C4
U 1 1 5A15E1A6
P 6100 4350
F 0 "C4" H 6215 4396 50  0000 L CNN
F 1 "22pF" H 6215 4305 50  0000 L CNN
F 2 "Capacitors_SMD:C_0805_HandSoldering" H 6138 4200 50  0001 C CNN
F 3 "" H 6100 4350 50  0001 C CNN
	1    6100 4350
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:C-device C1
U 1 1 5A15E23E
P 5500 4350
F 0 "C1" H 5615 4396 50  0000 L CNN
F 1 "22pF" H 5615 4305 50  0000 L CNN
F 2 "Capacitors_SMD:C_0805_HandSoldering" H 5538 4200 50  0001 C CNN
F 3 "" H 5500 4350 50  0001 C CNN
	1    5500 4350
	1    0    0    -1  
$EndComp
Text Label 5500 3900 2    60   ~ 0
QUARTZ-1
Text Label 6100 3900 0    60   ~ 0
QUARTZ-2
$Comp
L heat_map_robot_servo_rework-rescue:MCP1700-3002E_SOT23-regul U2
U 1 1 5A17A197
P 9950 750
F 0 "U2" H 9950 992 50  0000 C CNN
F 1 "MCP1700-3002E_SOT23" H 9950 901 50  0000 C CNN
F 2 "TO_SOT_Packages_SMD:SOT-23" H 9950 975 50  0001 C CNN
F 3 "http://ww1.microchip.com/downloads/en/DeviceDoc/20001826C.pdf" H 9950 750 50  0001 C CNN
	1    9950 750 
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR018
U 1 1 5A18330E
P 4850 6050
F 0 "#PWR018" H 4850 5900 50  0001 C CNN
F 1 "VCC" H 4867 6223 50  0000 C CNN
F 2 "" H 4850 6050 50  0001 C CNN
F 3 "" H 4850 6050 50  0001 C CNN
	1    4850 6050
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:C-device C2
U 1 1 5A183748
P 5750 7100
F 0 "C2" V 5600 7150 50  0000 C CNN
F 1 "100nF" V 5500 7100 50  0000 C CNN
F 2 "Capacitors_SMD:C_0805_HandSoldering" H 5788 6950 50  0001 C CNN
F 3 "" H 5750 7100 50  0001 C CNN
	1    5750 7100
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR019
U 1 1 5A1838D9
P 6100 7550
F 0 "#PWR019" H 6100 7300 50  0001 C CNN
F 1 "GND" H 6050 7400 50  0000 C CNN
F 2 "" H 6100 7550 50  0001 C CNN
F 3 "" H 6100 7550 50  0001 C CNN
	1    6100 7550
	1    0    0    -1  
$EndComp
Wire Wire Line
	10700 750  10700 1050
Wire Wire Line
	10700 2300 10700 2250
Wire Wire Line
	4700 900  4700 1050
Wire Wire Line
	4700 1350 4800 1350
Wire Wire Line
	4800 1050 4700 1050
Connection ~ 4700 1050
Wire Wire Line
	10200 1650 9300 1650
Wire Wire Line
	9300 1650 9300 1150
Wire Wire Line
	10200 1850 9400 1850
Wire Wire Line
	9400 1850 9400 1050
Wire Wire Line
	10650 4750 10650 4700
Wire Wire Line
	10650 4000 10650 4050
Wire Wire Line
	10950 4400 11000 4400
Wire Wire Line
	11000 4400 11000 3800
Wire Wire Line
	11000 3800 10050 3800
Wire Wire Line
	10400 4050 10650 4050
Connection ~ 10650 4050
Wire Wire Line
	10050 3800 10050 4050
Wire Wire Line
	10050 4050 10100 4050
Connection ~ 10050 3800
Wire Wire Line
	6700 2500 7300 2500
Wire Wire Line
	7300 2500 7300 3250
Wire Wire Line
	10200 5550 10350 5550
Wire Wire Line
	10200 5000 10200 5300
Wire Wire Line
	10200 5000 8600 5000
Wire Wire Line
	10200 6100 8600 6100
Connection ~ 10200 5550
Wire Wire Line
	9800 5300 10200 5300
Connection ~ 10200 5300
Wire Wire Line
	9800 5800 10200 5800
Connection ~ 10200 5800
Wire Wire Line
	8700 5250 8700 5150
Wire Wire Line
	8700 5150 9300 5150
Wire Wire Line
	9300 5150 9300 5300
Wire Wire Line
	9300 5950 8700 5950
Wire Wire Line
	9500 5300 9300 5300
Connection ~ 9300 5300
Wire Wire Line
	9500 5800 9300 5800
Connection ~ 9300 5800
Wire Wire Line
	9450 5550 9450 5500
Wire Wire Line
	9450 5500 9300 5500
Connection ~ 9300 5500
Wire Wire Line
	7450 4400 7600 4400
Wire Wire Line
	7900 4400 8000 4400
Wire Wire Line
	8000 4400 8000 4500
Wire Wire Line
	6700 2950 7050 2950
Wire Wire Line
	7050 2950 7050 4400
Wire Wire Line
	7050 4400 7150 4400
Wire Wire Line
	5500 4500 5500 4600
Wire Wire Line
	6100 4500 6100 4600
Wire Wire Line
	6100 3900 6100 4100
Wire Wire Line
	6100 4100 5950 4100
Wire Wire Line
	5500 3900 5500 4100
Wire Wire Line
	5500 4100 5650 4100
Connection ~ 5500 4100
Connection ~ 6100 4100
Connection ~ 6100 7100
Wire Wire Line
	6700 3250 6800 3250
Wire Wire Line
	6800 3250 6800 6300
Wire Wire Line
	6800 6300 8500 6300
$Comp
L power:PWR_FLAG #FLG01
U 1 1 5A165594
P 4850 6450
F 0 "#FLG01" H 4850 6525 50  0001 C CNN
F 1 "PWR_FLAG" V 4850 6578 50  0000 L CNN
F 2 "" H 4850 6450 50  0001 C CNN
F 3 "" H 4850 6450 50  0001 C CNN
	1    4850 6450
	0    -1   -1   0   
$EndComp
Connection ~ 6100 7250
Wire Wire Line
	6150 7250 6100 7250
$Comp
L power:PWR_FLAG #FLG02
U 1 1 5A147D9A
P 6150 7250
F 0 "#FLG02" H 6150 7325 50  0001 C CNN
F 1 "PWR_FLAG" V 6150 7378 50  0000 L CNN
F 2 "" H 6150 7250 50  0001 C CNN
F 3 "" H 6150 7250 50  0001 C CNN
	1    6150 7250
	0    1    1    0   
$EndComp
Wire Wire Line
	9900 3800 9900 2200
Wire Wire Line
	9900 2200 7950 2200
Wire Wire Line
	7950 2200 7950 1900
Wire Wire Line
	7950 1900 6700 1900
$Comp
L power:GND #PWR020
U 1 1 5A16ACEB
P 9950 1200
F 0 "#PWR020" H 9950 950 50  0001 C CNN
F 1 "GND" H 10050 1100 50  0000 C CNN
F 2 "" H 9950 1200 50  0001 C CNN
F 3 "" H 9950 1200 50  0001 C CNN
	1    9950 1200
	1    0    0    -1  
$EndComp
Text Label 10700 950  0    60   ~ 0
3.3v
Wire Wire Line
	9200 3250 9300 3250
$Comp
L heat_map_robot_servo_rework-rescue:CP-device C7
U 1 1 5A1531F4
P 9550 1000
F 0 "C7" H 9700 1000 50  0000 C CNN
F 1 "10uF" H 9700 900 50  0000 C CNN
F 2 "Capacitors_Tantalum_SMD:CP_Tantalum_Case-A_EIA-3216-18_Reflow" H 9588 850 50  0001 C CNN
F 3 "" H 9550 1000 50  0001 C CNN
	1    9550 1000
	1    0    0    -1  
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:CP-device C8
U 1 1 5A1535F6
P 10350 1000
F 0 "C8" H 10450 1200 50  0000 C CNN
F 1 "10uF" H 10500 1100 50  0000 C CNN
F 2 "Capacitors_Tantalum_SMD:CP_Tantalum_Case-A_EIA-3216-18_Reflow" H 10388 850 50  0001 C CNN
F 3 "" H 10350 1000 50  0001 C CNN
	1    10350 1000
	1    0    0    -1  
$EndComp
Wire Wire Line
	9550 1150 9950 1150
Wire Wire Line
	9950 1050 9950 1150
Connection ~ 9950 1150
Wire Wire Line
	10250 750  10350 750 
Wire Wire Line
	10350 850  10350 750 
Connection ~ 10350 750 
Wire Wire Line
	9650 750  9550 750 
Wire Wire Line
	9550 850  9550 750 
Connection ~ 9550 750 
$Comp
L heat_map_robot_servo_rework-rescue:ATMEGA168A-PU-atmel U1
U 1 1 5A1AE3C1
P 5700 2150
F 0 "U1" H 5750 3517 50  0000 C CNN
F 1 "ATMEGA328P-PU" H 5750 3426 50  0000 C CNN
F 2 "Housings_DIP:DIP-28_W7.62mm_Socket_LongPads" H 5700 2150 50  0001 C CIN
F 3 "http://www.atmel.com/images/atmel-8271-8-bit-avr-microcontroller-atmega48a-48pa-88a-88pa-168a-168pa-328-328p_datasheet.pdf" H 5700 2150 50  0001 C CNN
	1    5700 2150
	1    0    0    -1  
$EndComp
Wire Wire Line
	4800 3250 4700 3250
Wire Wire Line
	4700 3250 4700 3350
Wire Wire Line
	4800 3350 4700 3350
Connection ~ 4700 3350
Wire Wire Line
	4700 1050 4700 1350
Wire Wire Line
	10650 4050 10650 4100
Wire Wire Line
	10050 3800 9900 3800
Wire Wire Line
	10200 5550 10200 5800
Wire Wire Line
	10200 5300 10200 5550
Wire Wire Line
	10200 5800 10200 6100
Wire Wire Line
	9300 5300 9300 5500
Wire Wire Line
	9300 5800 9300 5950
Wire Wire Line
	9300 5500 9300 5800
Wire Wire Line
	5500 4100 5500 4200
Wire Wire Line
	6100 4100 6100 4200
Wire Wire Line
	6100 7100 6100 7250
Wire Wire Line
	9950 1150 10350 1150
Wire Wire Line
	9950 1150 9950 1200
Wire Wire Line
	10350 750  10700 750 
Wire Wire Line
	9550 750  9350 750 
Wire Wire Line
	4700 3350 4700 3450
NoConn ~ 6000 6400
NoConn ~ 6400 6400
NoConn ~ 6500 6500
NoConn ~ 6400 6600
Wire Wire Line
	8650 3400 8650 3250
Wire Wire Line
	7300 3250 8650 3250
Connection ~ 8650 3250
Wire Wire Line
	8650 3250 8900 3250
NoConn ~ 8850 3400
$Comp
L Connector_Specialized:Screw_Terminal_01x02 J5
U 1 1 5A3D23A6
P 6300 6800
F 0 "J5" H 6380 6792 50  0000 L CNN
F 1 "Screw_Terminal_01x02" H 6380 6701 50  0000 L CNN
F 2 "TerminalBlock:TerminalBlock_bornier-2_P5.08mm" H 6300 6800 50  0001 C CNN
F 3 "~" H 6300 6800 50  0001 C CNN
	1    6300 6800
	1    0    0    -1  
$EndComp
Wire Wire Line
	6100 6900 6100 7100
$Comp
L heat_map_robot_servo_rework-rescue:LED-device D2
U 1 1 5A3E4B54
P 7300 4750
F 0 "D2" H 7292 4495 50  0000 C CNN
F 1 "LED" H 7292 4586 50  0000 C CNN
F 2 "LEDs:LED_0805_HandSoldering" H 7300 4750 50  0001 C CNN
F 3 "~" H 7300 4750 50  0001 C CNN
	1    7300 4750
	-1   0    0    1   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:R-device R4
U 1 1 5A3E4B5B
P 7750 4750
F 0 "R4" V 7957 4750 50  0000 C CNN
F 1 "100" V 7866 4750 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 7680 4750 50  0001 C CNN
F 3 "" H 7750 4750 50  0001 C CNN
	1    7750 4750
	0    -1   -1   0   
$EndComp
$Comp
L power:GND #PWR021
U 1 1 5A3E4B62
P 8000 4850
F 0 "#PWR021" H 8000 4600 50  0001 C CNN
F 1 "GND" H 7950 4700 50  0000 C CNN
F 2 "" H 8000 4850 50  0001 C CNN
F 3 "" H 8000 4850 50  0001 C CNN
	1    8000 4850
	1    0    0    -1  
$EndComp
Wire Wire Line
	7450 4750 7600 4750
Wire Wire Line
	7900 4750 8000 4750
Wire Wire Line
	8000 4750 8000 4850
Wire Wire Line
	6700 3050 6900 3050
Wire Wire Line
	6900 3050 6900 4750
Wire Wire Line
	6900 4750 7150 4750
Wire Wire Line
	6700 3150 7200 3150
Wire Wire Line
	7200 3150 7200 4000
Wire Wire Line
	7200 4000 8500 4000
Text Label 6700 3050 0    60   ~ 0
L-2
$Comp
L heat_map_robot_servo_rework-rescue:AP1117-15-regul U5
U 1 1 5A3F7BF5
P 5400 6600
F 0 "U5" H 5400 6750 50  0000 C CNN
F 1 "AP1117-15" H 5400 6841 50  0000 C CNN
F 2 "TO_SOT_Packages_SMD:SOT-223-3_TabPin2" H 5400 6800 50  0001 C CNN
F 3 "http://www.diodes.com/datasheets/AP1117.pdf" H 5500 6350 50  0001 C CNN
	1    5400 6600
	-1   0    0    1   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:SW_SPDT-sw_dpdt SW1
U 1 1 5A34F225
P 6200 6500
F 0 "SW1" H 6200 6785 50  0000 C CNN
F 1 "SW_SPDT" H 6200 6694 50  0000 C CNN
F 2 "sw_dpsd:SW_DPSD" H 5465 6500 50  0001 C CNN
F 3 "" H 5465 6500 50  0001 C CNN
	1    6200 6500
	1    0    0    -1  
$EndComp
Wire Wire Line
	5900 7100 6100 7100
Connection ~ 6100 7450
Wire Wire Line
	6100 7450 6100 7550
Wire Wire Line
	5900 6500 5900 6800
Wire Wire Line
	5900 6800 6100 6800
Wire Wire Line
	6700 7450 6700 6150
Wire Wire Line
	6100 7450 6700 7450
Text Label 5950 6800 0    50   ~ 0
>5v
$Comp
L heat_map_robot_servo_rework-rescue:CP-device C9
U 1 1 5A409996
P 5800 6350
F 0 "C9" H 5950 6200 50  0000 C CNN
F 1 "10uF" H 6000 6300 50  0000 C CNN
F 2 "Capacitors_Tantalum_SMD:CP_Tantalum_Case-A_EIA-3216-18_Reflow" H 5838 6200 50  0001 C CNN
F 3 "" H 5800 6350 50  0001 C CNN
	1    5800 6350
	-1   0    0    1   
$EndComp
Wire Wire Line
	4850 6050 4850 6450
$Comp
L heat_map_robot_servo_rework-rescue:CP-device C3
U 1 1 5A41C9DF
P 5000 6400
F 0 "C3" H 4950 6200 50  0000 C CNN
F 1 "10uF" H 4900 6300 50  0000 C CNN
F 2 "Capacitors_Tantalum_SMD:CP_Tantalum_Case-A_EIA-3216-18_Reflow" H 5038 6250 50  0001 C CNN
F 3 "" H 5000 6400 50  0001 C CNN
	1    5000 6400
	-1   0    0    1   
$EndComp
Wire Wire Line
	5100 6600 5000 6600
Wire Wire Line
	5000 6550 5000 6600
Connection ~ 5000 6600
Wire Wire Line
	5000 6600 4850 6600
Wire Wire Line
	6000 6600 5800 6600
Wire Wire Line
	5800 6500 5800 6600
Connection ~ 5800 6600
Wire Wire Line
	5800 6600 5700 6600
Wire Wire Line
	5000 6150 5000 6250
Wire Wire Line
	5000 6150 5400 6150
Wire Wire Line
	5400 6300 5400 6150
Connection ~ 5400 6150
Wire Wire Line
	5400 6150 5800 6150
Wire Wire Line
	5800 6200 5800 6150
Connection ~ 5800 6150
Wire Wire Line
	5800 6150 6700 6150
Text Label 4850 6350 1    50   ~ 0
5v
Wire Wire Line
	6100 7250 6100 7450
Connection ~ 4850 6450
Wire Wire Line
	4850 6450 4850 6600
Wire Wire Line
	5600 7100 5600 6800
Wire Wire Line
	5600 6800 5800 6800
Wire Wire Line
	5800 6800 5800 6600
$Comp
L heat_map_robot_servo_rework-rescue:HC-SR04-HC-SR04 U6
U 1 1 5A4148AE
P 10400 3000
F 0 "U6" H 10400 3350 50  0000 L CNN
F 1 "HC-SR04" H 10400 3250 50  0000 L CNN
F 2 "HC-SR04:XCVR_HC-SR04" H 10400 3000 50  0001 L BNN
F 3 "5.95 USD" H 10400 3000 50  0001 L BNN
F 4 "OSEPP" H 10400 3000 50  0001 L BNN "Field4"
F 5 "None" H 10400 3000 50  0001 L BNN "Field5"
F 6 "Ultrasonic Sensor Module" H 10400 3000 50  0001 L BNN "Field6"
F 7 "Unavailable" H 10400 3000 50  0001 L BNN "Field7"
F 8 "HC-SR04" H 10400 3000 50  0001 L BNN "Field8"
	1    10400 3000
	1    0    0    -1  
$EndComp
$Comp
L power:VCC #PWR05
U 1 1 5A42B250
P 10150 2800
F 0 "#PWR05" H 10150 2650 50  0001 C CNN
F 1 "VCC" H 10167 2973 50  0000 C CNN
F 2 "" H 10150 2800 50  0001 C CNN
F 3 "" H 10150 2800 50  0001 C CNN
	1    10150 2800
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR06
U 1 1 5A42B2CB
P 10150 3300
F 0 "#PWR06" H 10150 3050 50  0001 C CNN
F 1 "GND" H 10155 3127 50  0000 C CNN
F 2 "" H 10150 3300 50  0001 C CNN
F 3 "" H 10150 3300 50  0001 C CNN
	1    10150 3300
	1    0    0    -1  
$EndComp
Wire Wire Line
	10150 3300 10150 3200
Wire Wire Line
	10150 3200 10200 3200
Wire Wire Line
	10200 2900 10150 2900
Wire Wire Line
	10150 2900 10150 2800
Wire Wire Line
	10200 3000 9750 3000
Wire Wire Line
	9750 3000 9750 2300
Wire Wire Line
	9750 2300 6700 2300
Wire Wire Line
	10200 3100 9650 3100
Wire Wire Line
	9650 3100 9650 2400
Wire Wire Line
	9650 2400 6700 2400
Text Label 6700 2300 0    50   ~ 0
TRIGGER
Text Label 6700 2400 0    50   ~ 0
ECHO
$Comp
L Switch:SW_Push_Dual SW2
U 1 1 5A1285FF
P 8650 3600
F 0 "SW2" V 8696 3312 50  0000 R CNN
F 1 "SW_Push_Dual" V 8605 3312 50  0000 R CNN
F 2 "Button_Switch_THT:SW_PUSH_6mm_h4.3mm" H 8650 3800 50  0001 C CNN
F 3 "" H 8650 3800 50  0001 C CNN
	1    8650 3600
	0    -1   -1   0   
$EndComp
Wire Wire Line
	8650 3800 8650 3850
$Comp
L heat_map_robot_servo_rework-rescue:R-device R5
U 1 1 5A416174
P 8300 1350
F 0 "R5" V 8400 1400 50  0000 C CNN
F 1 "510" V 8400 1250 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 8230 1350 50  0001 C CNN
F 3 "" H 8300 1350 50  0001 C CNN
	1    8300 1350
	0    -1   -1   0   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:R-device R6
U 1 1 5A4163B7
P 7900 1450
F 0 "R6" V 7850 1650 50  0000 C CNN
F 1 "510" V 7850 1250 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 7830 1450 50  0001 C CNN
F 3 "" H 7900 1450 50  0001 C CNN
	1    7900 1450
	0    -1   -1   0   
$EndComp
$Comp
L heat_map_robot_servo_rework-rescue:R-device R7
U 1 1 5A416403
P 8650 1550
F 0 "R7" V 8550 1600 50  0000 C CNN
F 1 "510" V 8550 1450 50  0000 C CNN
F 2 "Resistors_SMD:R_0805_HandSoldering" V 8580 1550 50  0001 C CNN
F 3 "" H 8650 1550 50  0001 C CNN
	1    8650 1550
	0    -1   -1   0   
$EndComp
Wire Wire Line
	6700 1550 8500 1550
Wire Wire Line
	8800 1550 10200 1550
Wire Wire Line
	6700 1050 9400 1050
Wire Wire Line
	6700 1150 9300 1150
Wire Wire Line
	8450 1350 10200 1350
Wire Wire Line
	10200 1450 8050 1450
Wire Wire Line
	8150 1350 6700 1350
Wire Wire Line
	6700 1450 7750 1450
NoConn ~ 6700 2000
NoConn ~ 6700 2100
NoConn ~ 6700 2200
Wire Wire Line
	6700 2850 7450 2850
Wire Wire Line
	7450 2850 7450 1950
Wire Wire Line
	7450 1950 10200 1950
Text Label 5850 5300 0    60   ~ 0
RESET
$Comp
L power:VCC #PWR016
U 1 1 5A4F1FAC
P 5000 5750
F 0 "#PWR016" H 5000 5600 50  0001 C CNN
F 1 "VCC" H 5017 5923 50  0000 C CNN
F 2 "" H 5000 5750 50  0001 C CNN
F 3 "" H 5000 5750 50  0001 C CNN
	1    5000 5750
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR017
U 1 1 5A4F1FFB
P 5850 5650
F 0 "#PWR017" H 5850 5400 50  0001 C CNN
F 1 "GND" H 5800 5500 50  0000 C CNN
F 2 "" H 5850 5650 50  0001 C CNN
F 3 "" H 5850 5650 50  0001 C CNN
	1    5850 5650
	1    0    0    -1  
$EndComp
Text Label 5150 5300 2    60   ~ 0
CLOCK
Text Label 5150 5400 2    60   ~ 0
MISO
Text Label 5150 5500 2    60   ~ 0
MOSI
Text Label 6250 5500 0    60   ~ 0
TXD
Text Label 6250 5400 0    60   ~ 0
RXD
$Comp
L heat_map_robot_servo_rework-rescue:Conn_02x04_Odd_Even-Connector J1
U 1 1 5A54141F
P 5450 5400
F 0 "J1" H 4900 5750 50  0000 C CNN
F 1 "Conn_02x04_Odd_Even" H 5250 5650 50  0000 C CNN
F 2 "Pin_Headers:Pin_Header_Straight_2x04_Pitch2.54mm" H 5450 5400 50  0001 C CNN
F 3 "~" H 5450 5400 50  0001 C CNN
	1    5450 5400
	1    0    0    -1  
$EndComp
Wire Wire Line
	5750 5600 5850 5600
Wire Wire Line
	5850 5600 5850 5650
Text Label 6700 2650 0    50   ~ 0
RXD
Text Label 6700 2750 0    50   ~ 0
TXD
Wire Wire Line
	5250 5300 5150 5300
Wire Wire Line
	5150 5400 5250 5400
Wire Wire Line
	5250 5500 5150 5500
Wire Wire Line
	5250 5600 5150 5600
Wire Wire Line
	5150 5600 5150 5750
Wire Wire Line
	5150 5750 5000 5750
$Comp
L heat_map_robot_servo_rework-rescue:Conn_02x03_Row_Letter_Last-Connector J2
U 1 1 5A4972F8
P 8600 5450
F 0 "J2" V 8550 5750 50  0000 R CNN
F 1 "Conn_02x03_Row_Letter_Last" V 8650 6700 50  0000 R CNN
F 2 "conn:Pin_Header_Straight_2x03_Pitch2.54mm" H 8600 5450 50  0001 C CNN
F 3 "~" H 8600 5450 50  0001 C CNN
	1    8600 5450
	0    -1   1    0   
$EndComp
Wire Wire Line
	8500 5750 8500 6300
Wire Wire Line
	8600 5750 8600 6100
Wire Wire Line
	8700 5750 8700 5950
NoConn ~ 8850 3800
Wire Wire Line
	8600 5000 8600 5250
Wire Wire Line
	8500 4000 8500 5250
Wire Wire Line
	5850 5300 5750 5300
$Comp
L heat_map_robot_servo_rework-rescue:R-device R8
U 1 1 5AA55099
P 5950 5400
F 0 "R8" V 6000 5225 50  0000 C CNN
F 1 "1K" V 5950 5400 50  0000 C CNN
F 2 "Resistor_SMD:R_0805_2012Metric" V 5880 5400 50  0001 C CNN
F 3 "" H 5950 5400 50  0001 C CNN
	1    5950 5400
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5800 5500 5750 5500
Wire Wire Line
	5750 5400 5800 5400
Wire Wire Line
	6100 5500 6250 5500
Wire Wire Line
	6250 5400 6100 5400
$Comp
L heat_map_robot_servo_rework-rescue:R-device R9
U 1 1 5AA82116
P 5950 5500
F 0 "R9" V 6000 5325 50  0000 C CNN
F 1 "1K" V 5950 5500 50  0000 C CNN
F 2 "Resistor_SMD:R_0805_2012Metric" V 5880 5500 50  0001 C CNN
F 3 "" H 5950 5500 50  0001 C CNN
	1    5950 5500
	0    -1   -1   0   
$EndComp
$EndSCHEMATC