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Tài liệu Robocon

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5

4

J6

3

D1
DIODE

5V

5
4
3
2
1

J3
COMPASS

ZTA

RN2

U5

1

P2.0

P2.2
P2.3
P2.4

5
6

11
10
9
7

D0
D1
D2
D3
D4
D5
D6
D7

Y
Y

4
3
2
1
15
14
13
12

5V

2
3
4
5
6
7
8
9

A
B
C

2K2

3
5
4

5V

P2.1

5
6

P2.2
P2.3
P2.4

11
10
9

C7
30P

D0
D1
D2
D3
D4
D5
D6
D7

Y
Y

4
3
2
1
15
14
13
12

5V

2
3
4
5
6
7
8
9

A
B
C

2K2

5

5

DP

LED7.2

A
B
C
D
E
F
G

8
DP

3
8

U10
A 7
B 6 A
C 4 B
D 2 C
E 1 D
F 9 E
G 10 F
G

D

T
L

3
8

3
8

8

R13 1K

U9
A 7
B 6
C 4
D 2
E 1
F 9
G 10

8

5

LED7.3

DP

5

LED7.4

J5

RN4

10
9
8
7
6
5
4
3
2
1

1K

D3

2

U7A
1

100K

R17

LEDTHU2

100K

R20

LEDTHU3

R21

-

U8A
1

D9

LED

D10

LED

LED

LEDTHU6

CAMBIEN3
LEDTHU4

9 -

U8B
7

R22

10 +

CAMBIEN6
LEDTHU7

6 -

LM324

12

+

13

-

U7D
14

CAMBIEN4

LM324

100K

5V

5 +

CAMBIEN5

100K
5V

U7C
8

100K

5V
+

2

D8

LED

LM324

100K

5V
3

D7

LED

R18
10 +

CAMBIEN2

LM324

100K

LEDTHU5

U7B
7

6 -

LM324

J12

D6

LED

5V

5 +

CAMBIEN1

-

RN5

D5

LED

C

5V
+

D4

LED

SWITCH LIMIT

R16
3

R19

DP

A
B
C
D
E
F
G

7447

5V

G

5V

LEDTHU8
LEDTHU7
LEDTHU6
LEDTHU5
LEDTHU4
LEDTHU3
LEDTHU2
LEDTHU1

8

Q5

R12 1K

U8
A 7
B 6
C 4
D 2
E 1
F 9
G 10

SWITCH LIMIT

100K

LEDTHU1

1
2
3
4
5
6
7
8
9
10

A
B
C
D
E
F
G

LED7.1

74151

2LEDTHU8
3LEDTHU7
4LEDTHU6
5LEDTHU5
6LEDTHU4
7LEDTHU3
8LEDTHU2
9LEDTHU1

R11 1K

U7
A 7
B 6
C 4
D 2
E 1
F 9
G 10

5V

7

1

A
B
C
D
E
F
G

RN3
1

C

5V

330
330
330
330
330
330
330

C1815

Q4

5V

U6

R15

R3
R4
R5
R6
R7
R8
R9

13
12
11
10
9
15
14

5V
O7

C1815

T
L

A
B
C
D
E
F
G

LT
RBI
BI/RBO

O6
Q3

R10 1K

D0
D1
D2
D3

5V

C1815

O5
Q2

T
L

7
1
2
6

J4
10
9
8
7
6
5
4
3
2
1

G

74151

ENCODER
C6
30P

O0
O1
O2
O3

5V

C1815

CAMBIEN8

Y1

5V
O4

74164

X2

X1

8051

5V

CAMBIEN7

5V

P3.2/INT0
P3.3/INT1
P3.4/T0
P3.5/T1

CAMBIEN8
CAMBIEN7
CAMBIEN6
CAMBIEN5
CAMBIEN4
CAMBIEN3
CAMBIEN2
CAMBIEN1

O4
O5
O6
O7

1

12
13
14
15

19

6
5
4
3
2
1

32
33
34
35
36
37
38
39

TXD

10
11
12
13

CAMBIEN6

P0.7/AD7
P0.6/AD6
P0.5/AD5
P0.4/AD4
P0.3/AD3
P0.2/AD2
P0.1/AD1
P0.0/AD0

4K7
J1

P2.0
P2.1
P2.2
P2.3
P2.4

8
9

9
8
7
6
5
4
3
2

P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

21
22
23
24
25

Q4
Q5
Q6
Q7

CAMBIEN5

COI BIP

P2.0/A8
P2.1/A9
P2.2/A10
P2.3/A11
P2.4/A12

CLK
CLR

Q3
Q2
Q1
Q0

U3

5V

ALE

DK ROLE1 1
DK ROLE2 2
DK ROLE3 3
DK ROLE4 4
DK PWM1 5
DK PWM2 6
DK PWM3 7
DK PWM4 8

R2
330

A
B

CAMBIEN4

2
3
4
5
6
7
8
9

P2.5
P3.6
P3.7

P2.6/A14

30

1

6
5
4
3

CAMBIEN3

27

RN1
5V

J2
NAP PHILLIP

O3
O2
O1
O0

CAMBIEN2

PSEN
P2.7/A15

1
2

D2
LED

18

P2.6
...
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
PWM2
PWM2
ROLE2
PWM4
PWM3
ROLE1
C PWM2
PWM4
PWM1
ROLE1
ROLE2
C PWM3
C ROLE3
PWM3
ROLE4
C ROLE1
PWM1
ROLE4
DK PWM1
ROLE3
C ROLE2
ROLE3
C PWM4
C ROLE4
C PWM1
RXD
DK ROLE1
F
D
P2.2
DK PWM4
B
E
F
CAMBIEN7
LEDTHU3
CAMBIEN6
CAMBIEN1
CAMBIEN2
P2.4
G
C C
O5
P2.4
CAMBIEN5
CAMBIEN8
TXD
O5
C
O3
F
G
CAMBIEN1
CAMBIEN1
LEDTHU4
LEDTHU8
DK PWM1
DK ROLE3
A
G
P2.3
LEDTHU2
LEDTHU7
CAMBIEN4
P3.6
DK ROLE2
D
A
CAMBIEN7
LEDTHU5
CAMBIEN4
LEDTHU7
P2.0
D
CAMBIEN8
LEDTHU8
DK ROLE4
O6
C
E
O2
CAMBIEN5
LEDTHU6
CAMBIEN4
A
O7
CAMBIEN3
P2.1
E
F
O1 B
O1
P2.4
CAMBIEN2
CAMBIEN7
CAMBIEN6
DK PWM3
O2 C
O6
P2.3
CAMBIEN3
CAMBIEN2
G
F
A
O3
O0
LEDTHU4
P2.5
O7
LEDTHU6
CAMBIEN6
CAMBIEN3
P2.1
DK PWM2
D D
A
B B
O4
LEDTHU2
LEDTHU1
CAMBIEN5
P2.2
RXD
E
O4
G
TXD
P3.7
E
LEDTHU3
CAMBIEN8
LEDTHU5
P2.3
O0
B
P2.2
P2.0
DK ROLE1 C ROLE1
DK PWM2
DK ROLE2 C ROLE2
C PWM2
DK PWM3
DK ROLE3
C ROLE4
C ROLE3
DK ROLE4
DK PWM4
C PWM4
C PWM3
C PWM1
LEDTHU8
LEDTHU7
LEDTHU6
LEDTHU5
LEDTHU4
LEDTHU3
LEDTHU2
LEDTHU1
OPTO1
OPTO2
OPTO3
OPTO4
OPTO5
OPTO6
OPTO7
OPTO8
OPTO1
OPTO2
OPTO3
OPTO4
OPTO5
OPTO6
OPTO7
OPTO8
PWM1
PWM2
PWM3
PWM4
RST
LEDTHU1
P2.6
5V
12V
12V
12V
12V
24V
24V
24V
12V
24V
5V
12V
12V
12V
12V
12V
12V
12V
12V
5V
24V
12V
12V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
5V
12V
5V
D8
LED
C6
30P
D18
LED
J2
NAP PHILLIP
1
2
3
4
D32
Q13
D468
R24
330 2W
R9330
LS1
RELAY
3
2
4
6
7
5
1
8
D30
DIODE
C7
30P
R15 100K
SW1
RESET
DC3_DC3
CON2
1
2
D22
D4
LED
R1
3 3W
R21 100K
D25
DC1_DC1
CON2
1
2
8
U9
LED7.3
6
1
2
3
4
5
7
8
9
10
B
E
D
T
C
DP
A
L
F
G
+
C4
1000UF
R101K
J12
SENSOR
1
2
3
4
5
6
7
8
9
10
J8
24VDC
1
2
R5330
RN5
2K2
2
3
4
5
6
7
8
1
9
U3
7447
7
1
2
6
4
5
3
13
12
11
10
9
15
14
D0
D1
D2
D3
BI/RBO
RBI
LT
A
B
C
D
E
F
G
RN7
1K
2
3
4
5
6
7
8
1
9
U4
8051
29
30
31
19
18
9
39
38
37
36
35
34
33
32
1
2
3
4
5
6
7
8
21
22
23
24
25
26
27
28
10
11
12
13
14
15
16
17
PSEN
ALE
EA
X1
X2
RST
P0.0/AD0
P0.1/AD1
P0.2/AD2
P0.3/AD3
P0.4/AD4
P0.5/AD5
P0.6/AD6
P0.7/AD7
P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7
P2.0/A8
P2.1/A9
P2.2/A10
P2.3/A11
P2.4/A12
P2.5/A13
P2.6/A14
P2.7/A15
P3.0/RXD
P3.1/TXD
P3.2/INT0
P3.3/INT1
P3.4/T0
P3.5/T1
P3.6/WR
P3.7/RD
D9
LED
R131K
Q5
C1815
M2DC2
IRF540
D11
LED
RN4
1K
2
3
4
5
6
7
8
1
9
J5
SWITCH LIMIT
1
2
3
4
5
6
7
8
9
10
D17
LED
D1
DIODE
D29
D31
Q11
D468
+
C1
1000UF
R27
330 2W
-
+
U7A
LM324
3
2
1
LS2
RELAY
3
2
4
6
7
5
1
8
R17 100K R18 100K
Q7
D468
Q6
Bxxx
U9
ULN2803
10 9
1
2
3
4
5
6
7
8
18
17
16
15
14
13
12
11
COM GND
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
OUT1
OUT2
OUT3
OUT4
OUT5
OUT6
OUT7
OUT8
C10
104
D5
LED
R3330
-
+
U8C
LM324
10
9
8
M4DC4
IRF540
ISO8DC4
12
43
D24
DIODE
R19 100K
J3
COMPASS
1
2
3
4
5
Q12
B562
DC2_DC2
CON2
1
2
C3
104
R6330
C8
104
LS4
RELAY
3
2
4
6
7
5
1
8
J1
ENCODER
1
2
3
4
5
6
ISO6DC3
12
43
D13
LED
Q14
B562
Q1
B688
R15
1k
D10
LED
R16 100K
ISO4DC2
12
43
R22 100K
R25
330 2W
Q2
C1815
J6
12VDC
1
2
D15
LED
D28
Q10
B562
-
+
U7C
LM324
10
9
8
RN2
2K2
2
3
4
5
6
7
8
1
9
-
+
U7D
LM324
12
13
14
RN1
4K7
2
3
4
5
6
7
8
1
9
R111K
8
U8
LED7.2
6
1
2
3
4
5
7
8
9
10
B
E
D
T
C
DP
A
L
F
G
ISO9DC4
12
43
D6
LED
-
+
U8A
LM324
3
2
1
M3DC3
IRF540
D23
R20 100K
RN6
4k7
2
3
4
5
6
7
8
1
9
R2
330
ISO7DC3
12
43
D20
LED
LS3
RELAY
3
2
4
6
7
5
1
8
ISO3DC1
12
43
R7330
U2
74164
1
2
8
9
3
4
5
6 10
11
12
13
A
B
CLK
CLR
Q0
Q1
Q2
Q3 Q4
Q5
Q6
Q7
RN8
1K
2
3
4
5
6
7
8
1
9
F1
FUSE
-
+
U7B
LM324
5
6
7
PC817
12
43
R14
10K
D14
LED
-
+
U8D
LM324
12
13
14
U6
74151
4
3
2
1
15
14
13
12
11
10
9
7
6
5
D0
D1
D2
D3
D4
D5
D6
D7
A
B
C
G
Y
Y
R23
2.2K
DC4_DC4
CON2
1
2
RN3
2K2
2
3
4
5
6
7
8
1
9
ISO5DC2
12
43
J4
SWITCH LIMIT
1
2
3
4
5
6
7
8
9
10
Q3
C1815
D12
LED
D2
LED
D27
DIODE
8
U10
LED7.4
6
1
2
3
4
5
7
8
9
10
B
E
D
T
C
DP
A
L
F
G
Y1
ZTA
D7
LED
D16
LED
-
+
U8B
LM324
5
6
7
C11
104
SW2
MODE
R8330
U1 7805
1 3
2
VIN VOUT
GND
R26
330 2W
J9
COI BIP
1
2
R121K
C9
104
+
C5
10UF
D19
DIODE
U5
74151
4
3
2
1
15
14
13
12
11
10
9
7
6
5
D0
D1
D2
D3
D4
D5
D6
D7
A
B
C
G
Y
Y
8
U7
LED7.1
6
1
2
3
4
5
7
8
9
10
B
E
D
T
C
DP
A
L
F
G
D3
LED
D26
Q9
D468
J7
12VDC
1
2
Q4
C1815
R4330
Q8
B562
M1
IRF540
+
C2
0.33UF
D21
DIODE
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