Zumo 32U4 main board
©2015 Pololu Corporation
www.pololu.com
Schematic diagram
Microcontroller and user interface
Page 1 of 4
PE6 (INT6/AIN0 )
1
UVcc
2
D-
3
D+
4
UGnd
5
UCap
6
VBus
7
PB0 (SS/PCINT 0)
8
PB1 (PCINT1/S CK)
9
PB2 (PDI/MOSI/PCINT2)
10
PB3 (PDO/MISO/PCINT3)
11
PB7 (OC0A/OC1 C/PCINT7/RTS)
12
RESET
13
VCC
14
GND
15
XTAL2
16
XTAL1
17
PD0 (INT0/SCL/O C0B)
18
PD1 (INT1/SDA)
19
PD2 (INT2/RXD1 )
20
PD3 (INT3/TXD1 )
21
PD5 (XCK1/CT S)
22
GND
23
AVCC
24
PD4 (ICP1/ADC8 )
25
PD6 (T1/OC4D /ADC9
26
PD7 (T0/OC4D /ADC10)
27
PB4 (PCINT4/AD C11)
28
PB5 (OC1A/OC4 B/PCINT5/ADC12)
29
PB6 (OC1B/OC4 B/PCINT6/ADC13)
30
PC6 (OC3A/OC4 A)
31
PC7 (ICP3/CLK0 /OC4A)
32
PE2 (HWB)
33
VCC
34
GND
35
PF7 (ADC7/TDI)
36
PF6 (ADC6/TDO)
37
PF5 (ADC5/TMS)
38
PF4 (ADC4/TCK)
39
PF1 (ADC1)
40
PF0 (ADC0)
41
AREF
42
GND
43
AVCC
44
PAD
45
ATmega32U4
VBUS
1
D-
2
D+
3
ID
4
GND
5
NC6NC7NC8NC9NC10NC
11
USB Micro-B
1 uF
C2
5V
L1
10 uH
0.1 uF
C1
AVCC
5V AVCC
0.1 uF
C3
VBUS
22
R1
22
R2
nRESET
D14
D16
D15
PD5
D8
D9
D10
D11
D3
D2
D0
D1
D4
D12
D6
D7
D5
D13
A0
A1
AREF
PE2
A2
A3
A4
A5
D17
Y1 16 MHz
10 pF
C4
10 pF
C5
SW1
AVR3V3
(D18)
(D19)
(D20)
(D21)
(D22)
(D23)
VB
VBAT
VREG
VCC
STATSHDN
3V3
nRESET
PSW
5V 5V
AREF
A5
A0 A1
A2 A3
A4
PE2
IRL IRR
D0 D1
D2 D3
D4 D5
D6 D7
D8 D9
D10 D11
D12 D13
D14
D15 D16
D17 PD5
D11
1
2
4
3
5
6
7
8
9
10
11
12
1
2
4
3
5
6
7
8
9
10
11
12
D2
D3
5V 3V3
Front
Rear
IRL
IRR
5V
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
1
2
4
3
5
6
7
8
9
10
11
12
13
14
15
16
D0
D1
5V
3V3
VBAT
D2
D3
D0
D1
VBAT VBAT
A0
A0A2 A2
A3
A3
A4
A4
D4
D12
D4 D12
D6
D11
A1
A1 D5
Front expansion area
Top expansion area
Mid
Left Right
D1
Green
1.5k
R3
PD5
5V
D3
Yellow
1k
R7
D13
D2
Red
2.21k
R4
D17
5V
SW2 SW3
1kR5
3kR9 3kR10
1.5kR6
SW4
D14
1k
R8
buzzerD4
Q6
100kR23
5V
D6
Vss
1
VDD
2
Vo
3
RS
4
R/W
5
E
6
DB0
7
DB1
8
DB2
9
DB3
10
DB4
11
DB5
12
DB6
13
DB7
14
LCD 5V
clockwise
R19
10k
D0
D1
D14
D17
D13
PD5
A
B C
COJ2
PIJ2010
PIJ2011
COLCD
PILCD01
PILCD02
PILCD03
PILCD04
PILCD05
PILCD06
PILCD07
PILCD08
PILCD09
PILCD010
PILCD011
PILCD012
PILCD013
PILCD014
PIJ201
PIJ202
PIJ203
PIJ204
PIJ205
PIJ206PIJ207PIJ208PIJ209
PIR1901
COR19
PIR1902
PIR1903
PISW101
PISW102
COSW1
COR1
PIR101
PIR102
COR2
PIR201
PIR202
PIC402
COC4
PIC401
COY1
PIY101
PIY102
PIY103
PIY104
PIC502
COC5
PIC501
PIR701
COR7
PIR702
PID301
PID302
COD3
COU1
PIU1013
PIU107
PIU103
PIU104
PIU108
PIU109
PIU1010
PIU1011
PIU1028
PIU1029
PIU1030
PIU1012
PIU1018
PIU1019
PIU1020
PIU1021
PIU1025
PIU1022
PIU1026
PIU1027
PIU1016
PIU1017
PIU105
PIU1015
PIU1023
PIU1035
PIU1043
PIU1045
PIR301
COR3
PIR302
COR5
PIR501 PIR502
PID101
COD1
PID102
PIR901 PIR902
COR9
COSW2
PIU106
PIU1014
PIU1034
PIU102
PIU1024
PIU1044
PIU1042
PIU1033
PIU101
PIU1031
PIU1032
PIU1036
PIU1037
PIU1038
PIU1039
PIU1040
PIU1041
PIC201
PIC202
COC3
PIC301 PIC302
PIR401
PIR402
PID201
COC2
COR4
PIR601 PIR602
PID202
PIR1001 PIR1002
PISW201
PISW202
COL1
PIL101 PIL102
COR6
COD2
COR10
PISW301
COSW3
PISW302
PIC102
COC1
PIC101
PIJP701
PIJP702
PIJP703
PIJP704
PIJP705
PIJP706
PIJP707
COJP2
PIJP201
PIJP202
PIJP203
PIJP204
PIJP205
PIJP206
PIJP207
PIJP208
PIJP209
PIJP2010
PIJP2011
PIJP2012
PIJP2013
PIJP708
PIJP709
PIJP7010
PIJP7011
PIJP7012
PIJP7013
PIJP7014
PIJP7015
PIJP7016
COJP7
PIJP101
PIJP102
PIJP103
PIJP104
PIJP105
PIJP106
PIJP107
PIJP108
PIJP109
PIJP1010
PIJP1011
PIJP1012
PIJP1013
COJP1
PISW401
COSW4
PISW402
PIR802
COR8
COJ4
PIJ401 PIJ402
PIR801
COD4
COR23
PIJP501
PIJP502
PIJP503
PIJP504
PIJP505
PIJP506
PIJP507
PIJP508
PIJP509
PIJP5010
PIJP5011
PIJP5012
COJP5
PIJP301
PIJP302
PIJP303
PIJP304
PIJP305
PIJP306
PIJP307
PIJP308
PIJP309
PIJP3010
PIJP3011
PIJP3012
PIJP3013
COJP3
PID402
PIBZ101
COBZ1
PIBZ102
PID401
PIQ603
PIQ601
COQ6
PIQ602
PIR2301PIR2302
COJP4
PIJP401
PIJP402
PIJP403
PIJP404
PIJP405
PIJP406
PIJP407
PIJP408
PIJP409
PIJP4010
PIJP4011
PIJP4012
PIJP4013
PIJP601
PIJP602
PIJP603
PIJP604
PIJP605
PIJP606
PIJP607
PIJP608
PIJP609
PIJP6010
PIJP6011
PIJP6012
COJP6
Zumo 32U4 main board
©2015 Pololu Corporation
www.pololu.com
Schematic diagram
Motors, encoders, IMU, sensors, and emitters
Page 2 of 4
Right motor
Left motor
GND
3
VS
1
Q
2
0.1 uF
C9
10k
R11
5V
GND
3
VS
1
Q
2
10k
R12
5V
A5EAR
5V
GND
3
VS
1
Q
2
0.1 uF
C11
10k
R13
5V
GND
3
VS
1
Q
2
10k
R14
5V
PE2EAL
5V
GND
4
VM
1
VCC
8
PH
6
EN
5
nSLEEP
7
OUT1
2
OUT2
3
GND (PPAD)
9
DRV8838
ML+
ML-
MR+
MR-
3.3 nF
C6
3.3 nF
C10
D9
D15
D10
D16
5V
5V
0.1 uF
C7
GND
4
VM
1
VCC
8
PH
6
EN
5
nSLEEP
7
OUT1
2
OUT2
3
GND (PPAD)
9
DRV8838
5V
0.1 uF
C8
VBAT VBAT
5V
5V
EAR
A5
D7
5V
EAL
PE2
D8
② Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
① ①
10 uF
C34
0.1 uF
C36
10 uF
C33
3V3
5V
0.1 uF
C38
D3
D2
0.1 uF
C37
3V3
3V3
10 nF
C41
10k
R31
10k
R32
10k
R28
10k
R29
5V
Q4
Q5
3V3
SDALV
SCLLV
SA0
Vdd_IO
1
SETC
2
SETP
3
SCL/SPC
4
GND
5
SDA/SDI/SDO
6
SDO/SA0
7
CS
8
INT2
9
RES(GND)
10
INT1
11
GND
12
GND
13
Vdd
14
C1
15
GND
16
LSM303D
0.22 uF
C39
4.7 uF
C40
10k
R30
3V3
VDD_IO
1
SCL/SPC
2
SDA/SDI/SDO
3
SDO/SA0
4
CS
5
DRDY/INT2
6
INT1
7
DEN
8
RES(GND)
9
RES(GND)
10
RES(GND)
11
GND
12
GND
13
CAP
14
RES(VDD)
15
VDD
16
L3GD20H
10k
R33
CS
(SCL)
(SDA)
3k
R47
A1
A1
D5
Q7
D8
IR
22
R39
1
2
NP
R43
1
2
IRL
1
2
Front left LED
Q8
D9
IR
22
R41
1
2
NP
R42
1
2
IRR
1
2
Front right LED
5V
100
R34
NP
R38
10 uF
C47
10 uF
C54
10 uF
C55 100
R35
NP
R40
D10
Red
1k
R36
D11
Red
1k
R37
D5
10 uF
C46
10 uF
C53
10 uF
C45
5V
10 uF
C44
10 uF
C51
10 uF
C52
10 uF
C43
10 uF
C50
10 uF
C42
IN2
②
5V
4
1
6
52
5V
IN14
3
6
52
③
100k
R44
D5
④ Implemented as 74LVC1G97 multi-function gate with pin 1 tied to GND
③ Implemented as 74LVC1G97 multi-function gate with pin 3 tied to GND
4.7 uF
100
OUT
1
GND
2
VS
3
5V
Left and right optional IR receiver connections
x2
Inertial sensors
IR emittersMotors
① Hall Effect sensor ICs in SOT-23 packages, e.g. AH1751
④
Middle left LED
Middle right LED
① ①
②
6 6
4 4
5
5
2
2
1 1
COU5
PIU506
PIU505
PIU509
COU6
PIU601
PIU602
PIU603
PIC3302
COC33
COC34
PIC3301
COC39
COC40
PIR1302
COR13
PIR1301
PIC3402
COC36
PIC3401
COU11
PIU1103
PIC3902
PIC3901
PIU1102
PIU11015
PIC4002
PIC4001
PIU11010
PIU1105
PIU11012
PIU11013
PIU11016
COU2
PIU501
PIU508
PIU507
PIU502
PIU503PIU504
COU7
PIU701
PIU702
PIU703
PIC3602
COC37
PIC3601
COC10
PIC1002
COJ1A
COJ1B
PIJ101 PIJ102
PIR1402
COR14
PIR1401
PIR4702
PIC3702
PIC3701
PIR4701
PIC1001
COR47
PIU11014
PIU1101
PIU1104
PIU1106
PIU1107
PIU1108
PIU11011
PIU1109
PIC902
PIC901
PIU?014
PIU?01
PIU?02
PIU?07
PIC1102
COC9
PIC1101
PIU?03
PIC3802
COC38
PIC3801
PIQ402
PIR3002
PIR3102
PIR3202
PIR3302
COR31
COR32
COR33
PIR3201
PIR3301
COR30
PIR3001
PIR3101
COC11
PIQ401
COQ4
PIC702
PIC701
PIQ403
PIQ501
PIQ502 PIQ503
COQ5
COU12
PIU1202
PIU1203
PIU1204
PIU1205
PIU1208
PIU1209
PIU12010
PIU12011
PIU12012
PIU12013
COC7
PIU?01
PIU?02
PIR2802
COR28
PIR2801
PIC802
COC8
PIC801
PIU?014
PIU?03
PIU?07
PIR2902
COR29
PIR2901
COJ5
PIJ501 PIJ502
COJ6
PIJ601 PIJ602
COU?
PIU12016
PIU12015
PIU1201
PIU1207
PIU1206
PIU12014
PIU206
PIU205
PIU209
COU3
PIU301
PIU302
PIU303
COU17
PIC4102
COC41
PIC4101
PIR1102
COR11
PIR1101
PIU1701
PIU1702
PIU1703
PIU201
PIU208
PIU207
PIU202
PIU203PIU204
COU4
PIU401
PIU402
PIU403
PIR4502
COR45
PIR4501
COC48
PIC4801PIC4802
COC6
COJP14
PIJP1401
PIC601PIC602
PIJ103PIJ104
PIR1202
COR12
PIR1201
PIC4202
COC42
PIC4201
PIC4502
COC45
PIC4501
COC50
COC53
PIC4302
COC43
PIC4301
PIC5002
COC51
PIC5001
PIR3601
COR36
PIR3602
PID1001
PID1002
PIU305
COU3A
PIU301
PIU304
PIU306
PIU302
PIC4602
COC46
PIC4601
PIC5302
PIC5301
PIR3701
COR37
PIR3702
PID1101
PID1102
PIU405
COU4A
PIU403
PIU404
PIU406
PIU402
COD10
COC54
COD11
PIC4402
COC44
PIC4401
PIC5102
PIC5101
COJP10
PIJP1001
PIJP1002
PIC4702
COC47
PIC4701
PIC5402
PIC5401
COJP12
PIJP1201
PIJP1202
PIR3402
COR34
PIC5202
COC52
PIC5201
PIR3401
PIR3802
PIR3902
COR38
COR39
COR43
PIQ703
PIQ701
PIQ702
PIC5502
PIC5501
COR40
COR42
PIQ803
PIQ801
PIQ802
PIR3901
PID802
PID801
COQ7
PIR3502
COR35
PIR3501
PIR4102
COR41
PIR4101
PID902
PID901
COQ8
PIR3801
PIR4302
PIR4301
COC55
PIR4002
PIR4001
PIR4202
PIR4201
COJP8
PIJP801
PIJP802
COD8
COJP9
PIJP901
PIJP902
COD9
COJP11
PIJP1101
PIJP1102
PIR4402
COR44
PIR4401
COJP13
PIJP1301
PIJP1302
Zumo 32U4 main board
©2015 Pololu Corporation
www.pololu.com
Schematic diagram
Power
Page 3 of 4
L1
1
L2
10
FB
8
VOUT
9
VIN
2
PAD
11
VAUX
6
EN
3
GND
7
PS/SYNC
4
PG
5
TPS630 61
0.1 uF
C31
10 uF
C21
10 uF
C23
10 uF
C22
VBAT VREG
L2
1.2 uH
REGEN
10 uF
C27
VBAT
Q2Q1
100k
R18
VB
Zumo chassis
0.1 uF
C25
REGEN
SHDN
220k
R27
VBAT
Q3
0.1 uF
C30
10 uF
C28
2
3
1
SW5
SMT
D6
Blue
VBAT
1k
R25
220 uF
C29
220 uF
C24
330 uF
C26
330 uF
C32
PSW
IN
1
ON/OFF
3
OUT
5
NC
4
GND
2
3.3V LDO
5V
1 uF
C19
1 uF
C20
3V3
NP
R24
AVR3V3
5VVREG VBUS
0.1 uF
C14
0.1 uF
C17
STAT
1
EN
2
VSNS
3
ILIM
4
GND
5
IN2
6
OUT
7
IN1
8
PAD
9
TPS2113A
1 uF
C18
100k
R15
20k
R17
270
R16
STAT
0.1 uF
C16
10 uF
C12
10 uF
C15
10 uF
C13
D5
Green
VBUS
1k
R20
D7
Blue
VREG
1k
R26
20k
R22
VBAT
A1
20k
R21
COL2
PIL201 PIL202
COR15
COR17
PIR1502
PIR1501
PIR1702
PIR1701
PIQ101PIQ102
PIQ105PIQ106
PIJ105
COJ1C
PIJ106
PIC1802
COC18
PIC1801
COQ1
PIQ103
PIU806
PIU803
PIU802
PIU805
PIU809
PIQ104
COU8
PIQ204 PIQ205PIQ206
PIR1802
COR18
PIR1801
PIU807PIU808
PIU801
PIU804
COQ2
PIQ201PIQ202
PIQ203
PISW502
PIR1601
COR16
PIR1602
COSW5
PISW501
PISW503
PIC1202
PIC1201
COC12
PIC1302
PIC1301
PIC1502
COC15
PIC1501
COC13
PIQ301
PIC1402
PIC1401
PIC1602
COC16
PIC1601
COC14
PIR2701
COR27
PIR2702
PIQ303
COQ3
PIQ302
PIC1702
COC17
PIC1701
COC19
PIC1902
PIC1901
PIU901
PIU902
COC25
COC31
COR24
PIU903
PIU906
PIU904
PIU907
PIC3102
PIC3101
COU9
PIR2502
PIR2501
PID601
PID602
COC29
PIC2102
COC21
PIC2101
PIC2902
COC27
PIC2901
PIU1005
PIC2502
PIC2501
PIC2702
PIC2701
PIC2002
COC20
PIC2001
PIR2402
PIC2402
COC24
PIC2401
COU10
PIU1001
PIU1003 PIU1004
PIU1002
PIR2401
COR25
COD6
PIU9010
PIU909
PIU908
PIU905
PIU9011
PIR2602
PIR2601
PID701
PID702
COR26
COC30
COD7
PIC2202
COC22
PIC2201
PIC3002
COC28
PIC3001
PIR2002
COR20
PIR2001
PID501
PID502
PIC2802
PIC2801
COD5
PIC2302
COC23
PIC2301
PIC3202
PIC3201
PIR2102
COR21
PIR2101
PIR2202
COR22
PIR2201
COC32
PIC2602
COC26
PIC2601
COJ3
PIJ301 PIJ302
Zumo 32U4 front sensor board
©2015 Pololu Corporation
www.pololu.com
Schematic diagram
Page 4 of 4
150
R1
2.2 nF
C1
5V
220
R4
DOWN1
U5
Q1
5V
47k
R9
NP
R10
2.2 nF
C5
5V
220
R5
DOWN5
U1
100
R11
LEFT
5V
2.2 uF
C6
150
R2
2.2 nF
C2
5V
220
R6
DOWN2
U4
2.2 nF
C4
5V
220
R7
DOWN4
U2
220R32.2nF
C3
5V
220
R8
DOWN3
U3
LEDON
GND
1
VS
2
OUT
3
GND
4
TSSP77
100
R12
5V
2.2 uF
C7
100
R13
5V
2.2 uF
C8
FRONT
RIGHT
1
2
3
1
2
3
DOWN3
LEDON
DOWN1A2
D4 DOWN5
LEFT
DOWN2
A2
RIGHT
DOWN4
D4
1
2
4
3
5
6
7
8
9
10
11
12
1
2
4
3
5
6
7
8
9
10
11
12
FRONT
DOWN3
DOWN1
DOWN5
FRONT
A2
D4
D0
D1
D2
D3
1
2
1
2
1
2
1
2
D0
D1
D2
D3
1
2
4
3
5
1
2
4
3
5
5V
0.1 uFC91.0 uF
C10
5V
1
2
1
2
DOWN2
LEFT RIGHT
DOWN4
GND
1
VS
2
OUT
3
GND
4
TSSP77
GND
1
VS
2
OUT
3
GND
4
TSSP77
220
R14
220
R15
220
R16
1.0 uF
C11
1.0 uF
C12
1.0 uF
C13
10 uF
C14
10 uF
C15
10 uF
C16
(D20)
(D20)(D20)
(SDA)
(SDA)
(SCL)
(SCL)
(A0)
(A0)
(A3)
(D12)
(D12)
(A4)
(A3)
(A4)
(D11)
PIR102
COR1
PIR101
PIU504
PIU104
PIR1002
COR10
PIR1001
PIC102
COC1
PIC101
PIU501
COU5
PIU502PIU503
PIC502
COC5
PIC501
PIU101
COU1
PIU102PIU103
PIJ102
COJ1
PIJ101
PIQ103
PIQ101
COQ1
PIQ102
PIR202
PIC202
COR2
COC2
COR4
COR5
PIR401PIR402
PIJP701PIJP702
COJP7
PIR501PIR502
PIJP1001PIJP1002
COJP10
PIR902
COR9
PIR901
PIJ402
COJ4
PIR201
PIU404
PIU204
PIJ401
COC4
PIJ202
COJ2
PIJ201
PIC201
COR6
PIU401
COU4
PIU402PIU403
PIC402
PIC401
COR7
PIU201
COU2
PIU202PIU203
PIR601PIR602
PIR701PIR702
COR3
PIC902
COC9
PIC901
COU3
COR8
PIJP201
PIJP202
PIJP203
PIJP204
PIJP205
PIJP206
PIJP207
PIJP208
PIJP209
PIJP2010
PIJP2011
PIJP2012
COJP2
PIR801PIR802
PIJP801
PIJP802
COJP8
PIR302
PIC302
COC3
PIC301
PIR301
PIU301
PIU304
PIU302PIU303
PIJ302
COJ3
PIJ301
PIC1002
COC10
PIC1001
PIJP101
PIJP102
PIJP103
PIJP104
PIJP105
PIJP106
PIJP107
PIJP108
PIJP109
PIJP1010
PIJP1011
PIJP1012
PIC1102
PIC1202
COC11
PIC1101
PIC1201
COJP1
COC12
PIC1302
COC13
PIC1301
PIC1402
PIC1502
COC14
PIC1401
PIC1501
COJP3
PIJP301
PIJP302
PIJP303
PIJP304
PIJP305
COJP4
PIJP401
PIJP402
PIJP403
PIJP404
PIJP405
PIC1602
COC15
COC16
PIC1601
COU8c
PIU8c02
PIU8c03
PIU8c01
PIU8c04
COJP6
PIJP601
PIJP602
COJP12
PIJP1201
PIJP1202
PIJP1203
COR16
PIR1202
COR12
COU7a
PIU7a02
COR15
PIR1501
PIR1502
PIU7a03
PIU7a01
PIU7a04
PIR1302
COR13
PIR1301
PIR1601PIR1602
PIC802
COC8
PIC801
COJP5
PIJP501
PIJP502
COJP11
PIJP1101
PIJP1102
PIJP1103
PIJP901
PIJP902
COJP9
COU6c
PIU6c02
PIU6c03
PIU6c01
PIU6c04
PIR1201
PIC702
COC7
PIC701
COR14
PIR1401PIR1402
PIR1102
COR11
PIR1101
PIC602
COC6
PIC601
Loading...