D C B A 5 3 . K C A B _ T H G R R O F _ T H G R I I K C A B _ T F E L R O F _ T F E L D E L _ T R A E H 0 T O O B 3 C C V D N G 4 K L C W S U1 8 4 7 4 6 4 5 4 4 4 3 4 2 4 1 4 0 4 9 3 8 3 7 3 VCC3.3 OSCIN OSCOUT RESET GND VCC3.3 1 2 3 4 5 6 7 8 9 10 11 12 VBAT PC13 PC14 PC15 OSCIN OSCOUT NRST VSSA VDDA PA0 PA1 PA2 9 B P 8 B P 7 B P 6 B P 5 B P 4 B P 3 B P 3 _ D D V 3 _ S S V 0 T O O B 5 1 A P K L C W S STM32F103C8T6 VDD_2 VSS_2 SWIO PA12 PA11 PA10 PA9 PA8 PB15 PB14 PB13 PB12 1 T O O B 2 B P / 1 _ S S V 1 _ D D V 0 1 B P 1 1 B P 3 A P 4 A P 5 A P 6 A P 7 A P 0 B P 1 B P 3 1 4 1 5 1 6 1 7 1 8 1 9 1 0 2 1 2 2 2 3 2 4 2 1 T O O B 0 1 B P 1 1 B P A D S L C S G N D V C C 3 3 . 3 A P VCC3.3 VCC3.3 36 35 34 33 32 31 30 29 28 27 26 25 VCC3.3 GND SWIO PA12 PA11 PA9 PA10 PA8 PB15 PB14 PB13 PB12 HX1383 VCC3.3 R8 10K PA3 1 2 3 U6 1 2 3 KEY VCC3.3 2 2 1 1 C2 0.1UF VCC3.3 R2 10K RESET 2 2 C5 1UF1 1 2 2 1 C1 0.1UF 1 RESET U19 1 2 CON2 1 2 POWER XTAL I N C S O 2 2 1 1 T U O C S O X1 2 1 2 1 XTAL C6 22PF 2 2 1 1 C7 22PF KEY U20 LED 3 SERIAL_PORT U3 1 2 3 4 CON4 1 2 3 4 VCC3.3 PA10 PA9 MOTOR-DRIVER U5 1 2 CON2 U7 1 2 CON2 U12 1 2 CON2 1 2 1 2 1 2 MOTOR_BAT RIGHT_BACK RIGHT_FOR LEFT_BACK LEFT_FOR MOTOR_VOL VCC3.3 MOTOR_BAT BAT_8V 1 2 3 U18 1 2 3 switch 2 SENSOR VCC3.3 SCL SDA S1 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 MPU6050 1 VCC3.3 BOOT0 R1 10K VCC3.3 SWIO SWCLK BOOT U2 1 2 3 1 2 3 BOOT0 DEBUG U4 1 2 3 4 1 2 3 4 SWD U8 1 2 1 2 MOTOR-A U13 1 2 1 2 MOTOR-B MOTORA+ MOTORA- MOTORB+ MOTORB- Speed PB10 VCC3.3 PB11 VCC3.3 1 2 3 1 2 3 U11 1 2 3 KEY U14 1 2 3 KEY BAT_8V MOTORA+ MOTORA- MOTOR U9 1 2 3 4 5 CON5 U15 1 2 3 4 5 CON5 1 2 3 4 5 1 2 3 4 5 expand I/O 1 2 3 U23 1 2 3 KEY PA12 PA11 PA8 U10 1 2 3 4 5 CON5 U16 1 2 3 4 5 CON5 U24 1 2 3 4 CON4 1 2 3 4 5 1 2 3 4 5 1 2 3 4 MOTORB+ MOTORB- BAT+ PB15 PB14 PB13 PB12 U17 1 2 CON2 1 2 BAT+ BAT- U21 1 2 CON2 1 2 U22 1 2 CON2 1 2 1 C12 VCC3.3 2 4 1 2 10UF L1 OUT1 VCC-IN OUT2 GND LM1117 2 2 1 1 C11 0.1UF VCC3.3 GND 1 2 3 3 2 1 3 2 1 5 4 BAT+ BAT- HEART_LED 2 1 2 1 LED1 HEARTLED 1K R6 VCC3.3 2 2 1 LED2 POWER 1K R7 1 3 Title Title Title Size Size Size A4 A4 A4 Date: Date: Date: 2 RTU_BBear RTU_BBear RTU_BBear Document Number Document Number Document Number Friday, March 17, 2017 Friday, March 17, 2017 Friday, March 17, 2017 Sheet Sheet Sheet o f o f o f 1 1 1 1 1 1 1 A Rev Rev Rev v1.0 v1.0 v1.0