U21

29

28

7

6

38

37

36

353433323126252423222120191615141312111094321

44434241 P0

P1P2P3P4P5P6P7P8P9P10P11P12P13P14P15P16P17P18P19P20P21P22P23P24P25P26P27

P28-SCL

P29-SDA

P30-TX

P31-RX

BOE

RES

XI

XO

928-P8X32A-Q44

U5

256Kb

517

326 SCL A1

A2

WPA0

SDA

81

10712D_Main_PCB

SCRIBBLER2

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

X4X2X1

X6

3V3

10K

R65

3V3

U6

256Kb

517

326 SCL A1

A2

WPA0

SDA

X5

Y1

5.00MHz

TP1 TP2

TP35

10K

R50

3V3

Mot_Right_EncMot_Left_Enc

Serial_Tx

Serial_Rx

Speaker

Obs_Tx_Right

Obs_Tx_Left

LED_Clk

Reset

P1

P5P4P3P2

P0

Mic_ADC_Out

LED_Data

Mux3

Idler_TxPush

Mot_Left_PWM

Mot_Left_Dir

Obs_Rx

Mic_ADC_In

Mux0

Mux2Mux1

Mux_ADC_InMux_ADC_Out

Mot_Right_Dir

Mot_Right_PWM

S2 Robot Electrical Schematics

Desinger: Ben WirzElement Products, Inc.http://www.elementinc.com/

Copyright(c) 2010 Element Products, Inc. & Parallax, Inc.This schematic is released under the Creative Commons Attribution License. (www.creativecommons.org)

Propeller Processor

Mounting Holes

Program EEPROM

User EEPROM

Public Release: 09DEC2010Subversion Rev: 2271

PDF Viewing Notes:

The Net Names & Components are Hyper Linked.Left Click on a Component to view additional information.Left Click on a Net Name to follow it through the design.

SCRIBBLER2

10712D_Main_PCB

2 8

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

3V3

P6

1

19

3

5

7

9

11

13

15

17

2

20

4

6

8

10

12

14

16

18

600-20

9V0

C86

1nF

C69

1nF

3V3

C85

1nF

C21

1nF

R10

330

U20

U20 R11

330

C70

1nF

C71

1nF

100K

R24

C72

1nF

R12

4.7K

C22

100nF

3V3

C73

DNIDNI

C74 C75

1nF

C76

1nF

3V3

DNI

C77

DNI

C78

3V3

R7

22K

Q2 R66

1.0K

R26

10K

TP5

TP9

TP13 TP14

TP15

TP16

TP20

TP22 TP33

TP34

R13

22K

130

R16

Mot_Right_Enc

Mot_Left_Enc

Serial_TxSerial_Rx

LED_ClkReset

Mic_ADC_Out

LED_Data

Idler_Tx

Push

Mic_ADC_In

Idler_Rx_Ang

Mic_Ang

Idler_Tx_Drv

5V0_HACK

Back Board Interface

Back Board RibbonCable Connector Microphone Sigma Delta ADC

Idler LED Driver

Encoder Schmitt Trigger Buffer

R32

100K

SCRIBBLER2

10712D_Main_PCB

3 8

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

U1

15

1617

8

11

7

12

109

1413 24

19

4

6

1

3

5

2

23

2221 AIN1

AIN2

PWMA

AO12

AO21

AO11

AO22

STBY

BO12

BO21

BO11

BO22

BIN1BIN2

PWMB

10705

DNI

C33

1.00K

R8DNI

R46

14.0K

R9

623-2M

P7

21

DNI

C42

3V3

DNI

R36

C63

100nF3V3

C35

100nF

3V3

R30

47K

R31

10K

220K

R28

1.0uF

C4

U19

U10

QDCLK

CLR

10707-1G175

3V3

P5

623-2M

21

Q3

3V3

R35

4.7K

4.7K

R33TP3

TP6

U7

4

3

2

1

8

-

+

10439-SON

9V0

TP36

TP37U19

0.10

R29

U7

4

5

6

7

8

-

+

10439-SON

DNI

R21

TP7

TP8

TP10

TP4

TP12

TP23

Reset

Mot_Left_PWM

Mot_Left_Dir

Mot_Right_Dir

Mot_Right_PWM

Mot_OC

Mot_OC

Mot_I_Ang

V_Trip

Left Motor

Motor Driver

Right Motor

Over-Current Comparator

Current Measurement Amp

Over-Current Latch

C24+

100uF

C29+

100uF

U3

6

3

1

54

2 EN

VIN OUTA

FB

OCSET

OUTB

10743

C28

1.0uF

1.0uF

C40

9V0

C91+

100uF

C46+

470uF

SCRIBBLER2

10712D_Main_PCB

4 8

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

D1

6.80K

R1

1.30K

R2

2.40K

R3

DNI

C12DNI

C11

9V0

220K

R57

C3

100nF

C14+

470uF

C16+

470uFC17

+

470uF

C18+

470uF

5V0

C23

1.0uF

C54

10nF

C15

1.0uF

3V3

C47

1.0uF

C30+

100uF

10555-3V3

U175

4

1

3 EN

VIN

BYPASS

VOUT

3V3

100uH

L2

4.7

R55

C44+

100uF

4.7uF

C32C41

10nF

C2

1.0uF

3V3

C51

1nF

C59

10nF

3V3

5V0

3V3

C57

1nF

C58+

470uF

9V0

9V0

4.7uF

C1

TP19

5V0

3V3 3V3

C48

10nF

3V3

C43

4.7uF

3V3

5V0

4.7uF

C62

3V3

C64

10nF

C65

10nF

5V0

C50

10nF

3V3

C52

10nF

C53

10nF

3V3

C13

1.0uF

9V0 9V0

C27

1.0uF

9V0

C79

1nF

3V3

C80

1nF

3V3

C81

1nF

3V3

C82

1nF

3V3

C83

1nF

3V3

C84

1nF

3V3

TP17 TP18 TP21

TP11

L1

47uH313-470

3V3

C68

1.0uF

C89+

470uF

3V3

5V0_HACK

5V0_HACK 3V3_I_Ang

Power Supply

3.3 Vdc @ 150mA Max

5.0 Vdc @ 1,800mA Max

Input Cap RippleCurrent >= 0.9A

Output CapESR <= 0.19 Ohm

300kHz Switching Regulator

Linear Regulator

C92

4.7uF

22K

R5C39

100nF

SCRIBBLER2

10712D_Main_PCB

5 8

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

5V0

4.7uF

C36

C34

4.7uF

22K

R38

623-2M

P1

21

U15

OUT

VC

C

38kHz

R47

10K

R61

1.0K

R42

100

3V3

3V3

1.0uF

C49

D3

D4

680

R19

680

R20

TP24

U2

8

543

12 BYPASS

SD

IN+IN-

VO1

VO2

10708-SSOP

5V0

C38

1nF

Speaker

Obs_Tx_Right

Obs_Tx_Left

Obs_Rx

Obstacle IR Detector

Obstacle Emitter Right

Obstacle Emitter Left

Speaker Amplifer

22.0K

R79

3.30K

R45

3.30K

R18

623-4M

P2

4321

U18

5V0

SCRIBBLER2

10712D_Main_PCB

6 8

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

U8

425112151413

3

91011

6 E

S0S1S2

Z

Y0Y1Y2Y3Y4Y5Y6Y7

10706-SON-HCT

1.0uF

C45

1.0uF

C55

1.0uF

C56

3.30K

R15

100K

R25

10.0K

R14

C25

1nF

1nF

C19

C66

100nF

3.30K

R43

C90

100nF

C87

100nF

3V3

9V0

C20

100nF

3V3

U9

425112151413

3

91011

6 E

S0S1S2

Z

Y0Y1Y2Y3Y4Y5Y6Y7

10706-SON-HCT

3V3

270K

R6

U18

TP25 TP26 TP27

TP28

5V0

22.0K

R78

22.0K

R77

3.30K

R49

Mux3

Mux3

Mux0

Mux0

Mux2

Mux2

Mux1

Mux1

Mux_ADC_In

Mux_ADC_Out

Idler_Rx_Ang

Mot_I_AngV_Trip

3V3_I_Ang

Bat_V_Ang

Light_Right_AngLight_Center_Ang

Light_Left_Ang

Line_Left_AngLine_Right_Ang

Ang1

Ang0Top PCBLight Sensors

16 Channel Sigma Delta ADC

Mux[3:0] = 0b0XXX

Mux[3:0] = 0b1XXX

16:1 Analog Mux

Sigma Delta ADC

R48

1.0K

U22

10707-1G11

3V3

U11

4

3

2

1

8

-

+

10439-SON

U11

4

5

6

7

8

-

+

10439-SON

SCRIBBLER27 8

10712D_Main_PCB

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

623-4M

P4

4321

3V3

623-4M

P3

4321

330K

R23

Q6

51.0

R52

330K

R22

330K

R17

33pF

C26

C60

10nF

33pF

C31

C61

10nF

330K

R27

TP29

TP30

TP31

TP32

Mux3Mux2

Mux1

5V0_HACKLine_Left_Ang

Line_Right_Ang

Left LineFollow Sensor

Follow SensorRight Line

Line Follow Sensor Interface

Enabled Mux[3:0] = 0b111X

Photo Diode Amp

U1419

202

1112131415161718

109876543 SA

SBSCSDSESFSGSH

DADBDCDDDEDFDGDH

SR

EF

GR

EF

DR

EF

10608

220K

R4

C37

100nF3V3

C10

1nF

C9

1nF

R44

4.7K

C8

1nF

C67

1nF

R41

4.7K

C88

1nF

C7

1nF

R40

4.7K

C6

1nF

R39

4.7K

C5

1nF

R37

4.7K

R34

4.7K

SCRIBBLER2

10712D_Main_PCB

8 8

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

P8

C1

A1B1

C2

A2B2

C3

A3B3

C4

A4B4

C5

A5B5

C6

A6B6

C7

A7B7

C8

A8B8

6007-03-08-850

P1

P5P4P3P2

P0

5V0_HACK

Ang1

Ang0

Hack5Hack4Hack3Hack2Hack1Hack0

Hacker Port

Hacker Port Interface

3.3V - 5.0V Logic Level Translator

SCRIBBLER2

10715E_Back_PCB

31

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

3V3

U2

5V0

P1

1

19

3

5

7

9

11

13

15

17

2

20

4

6

8

10

12

14

16

18

650-20

Q2

R8

4.7K

J1

661-9FA

9

1

2

3

4

5

6

7

8

M1

M2M2M1

CTSRTSDSRGNDDTRTXDRXDDCD

RI

5V0

U3

9V0

9V0

9V0

F1

1.10A

SW2

730-R-BLU

Q1

R9

4.7K

3V3

X1 X2 X3

Q3

3V3

R10

1.0K

R11

4.7K

DNI

C12C13

10nF

R13

100

P2

21

631-2M

R15

330

3V3

DNI

P5

21

TP200

TP202

TP201

TP204

X4

TP203

DNI

C15

SW1

737-S-7P0MM

R5

10K

LED_DataReset

Reset

LED_ClkLeft_Enc

Left_Enc

Right_Enc

Right_Enc

Idler_Rx_Ang

Mic_Ang

Idler_Tx_Drv

Serial_Rx

Serial_Rx

Serial_Tx

Serial_Tx

Push

Push

User Push Button Switch

Motor Break Beam EncodersPower SwitchBattery

Back PCB

DB-9 Serial PortRS-232 Level Converter

Main Board Ribbon Cable

C17

10nF

3V3

470

R3

470

R4

SCRIBBLER2

10715E_Back_PCB

2 3

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

470

R6

U1

8

9

21

131211106543Q0

Q1Q2Q3Q4Q5Q6Q7

SDASDB

CLR

CLK

10746-SON-HCT

BLUE

D4

D1

GA RA

GRN/RED

D2

GA RA

GRN/RED

D3

GA RA

GRN/RED

U4

4

5

6

7

8

-

+

10439-SON

R20

1.0K

R17

22K

R18

22K

R7

100K

M1

M10747

C1

4.7uF

C11

4.7uF

C5

4.7uF

5V0 3V3

R12

100K

C4

4.7uF

C10

10nF

C9

10nF

3V3

C7

4.7uF

C8

4.7uF

3V3

9V0

C6

4.7uF

R19

2.2K

R16

100K

3V3

R21

2.2K

3V3

220pF

C14

100nF

C16

680

R14

C18

10nF

C20

10nF

C19

10nF

LED_Data

Reset

LED_Clk

Mic_Ang

Bi-Color LED Driver

Right User LED

Left User LED

Center User LED

Power Indicator LED

Microphone Pre-Amp

P4

4321

U4

4

3

2

1

8

-

+

10439-SON

1.00M

R2

1.00M

R1

33pF

C2

C3

10nF

5V0

P3

4321

3V3

SCRIBBLER2

10715E_Back_PCB

3 3

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

Idler_Rx_Ang

Idler_Tx_Drv

Photo Diode Amp

Idler Wheel Break Beam Sensor

SCRIBBLER2

10718C_Top_PCB

1 1

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

U2

10766

U3

10766

P1

631-4M

4321

X1 X2

U1

10766

CenterRight3V3

Left

Light Sensors

Right Center Left

Top Light Sensor PCB

SCRIBBLER2

10753B_Idler_PCB

11

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

P1

4321

6007-01-04-850

D1

705-850IR20W

P2

4321

6007-01-04-850

D2

732-940IR16W

IR LED

IR Photo Diode

Idler Wheel Stall Detector

11

10243D_Battery_Wire

SCRIBBLER2

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

B6

+

1.5V

B5

+

1.5V

B4

+

1.5V

B3

+

1.5V

B2

+

1.5V

B1

+

1.5V

625-2M

J1

21

12

625-2 Pin OutRedBlack

24AWG Wire

Battery Box Wire Diagram

11

10247F_Line_Sensor_Wire

SCRIBBLER2

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

940nm +/- 25 deg

D?

733-940IR25W

700-940IR30W940nm +/- 30 deg

D1

625-4M

J1

4321

1234

625-4 Pin OutRed

WhiteBlack

Green

28AWG Wire

IR LED

IR Photo Diode

Line Sensor Wire Diagram

SCRIBBLER2

10248C_Speaker_Wire

11

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

SP1

-+

10251-27X9A

625-2M

J1

21

12

625-2 Pin Out

RedBlack

28AWG Wire

Speaker Wire Diagram

11

10268E_Motor_Wire

SCRIBBLER2

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

625-2M

J1

21

M1+ -M

C2

0.1uF

C1

0.1uF

C3

0.1uF

12

625-2 Pin Out

RedBlack

CASE

24AWG Wire

Motor Wire Diagram

11

10721A_Top_PCB_Wire

SCRIBBLER2

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

J1

625-4M

4321

625-4M

J2

4321

1234

625-4 Pin Out

WHITEGREENYELLOW

RED

28AWG Wire

Top PCB (10719) to Main PCB (10713) Wire Diagram

SCRIBBLER2

Cabling_Diagram

1 1

SIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

2

1

4321

2

1

2 1++++++

4

3

2

1

4

3

2

1

2

1

-+

4321

Right Line Follow Assembly

S2 Cabling Diagram

10247F

10247FLeft Line Follow Assembly

Speaker Assembly10248C

Main PCB10712D

10718CTop PCB

P8

Hacker Port

P5

P7

P3

P4

P1

10268ERight Motor Assembly

10268ELeft Motor Assembly

P2

P6

Front

Right SideLeft Side

Back

S2 Top View

P1

P2

P1

Main to Back PCB Ribbon Cable

10753B

10243DBattery Holder Assembly

Back PCB10715E

Idler PCB

SCRIBBLER211

Block_DiagramSIZE

SHEET OFDRAWN BY

APROJECT

DWG

B. WIRZ

-+

Analog

S2 System Block Diagram

MUXU8/U9/U18

Line SensorsP3/P4/U11/U22

Light Sensors

P2

MicrophoneP6/U4-A

Battery & Supply

Voltage Monitor

Idler Wheel SensorP6/U4-B

Wheel MotorCurrent MeasureU7/U10

MicrocontrollerP8X32A

U2

RS-232 Serial interface

Serial EEPROMU5/U6

OSC

Y1 /5.0MHz

Obstacle SensorD3/D4/U15

Power Amplifier

U2

Programable LED's

P6/D1/D2/D3/D4/U1

Left Wheel Bi-Directional Control

U1/ U19

Right Wheel Bi-Directional ControlU1/ U19

Left Wheel EncoderP6/U3/U20-A

Right Wheel EncoderP6/U2/U20-B

Switching Power Supply

300 kHz