EESchema Schematic File Version 4
EELAYER 30 0
EELAYER END
$Descr A4 11693 8268
encoding utf-8
Sheet 1 1
Title ""
Date ""
Rev ""
Comp ""
Comment1 ""
Comment2 ""
Comment3 ""
Comment4 ""
$EndDescr
$Comp
L MCU_Module:Arduino_Nano_v3.x A?
U 1 1 61FA62B2
P 2550 2000
F 0 "A?" H 2550 911 50  0000 C CNN
F 1 "Arduino_Nano_v3.x" H 2550 820 50  0000 C CNN
F 2 "Module:Arduino_Nano" H 2550 2000 50  0001 C CIN
F 3 "http://www.mouser.com/pdfdocs/Gravitech_Arduino_Nano3_0.pdf" H 2550 2000 50  0001 C CNN
	1    2550 2000
	1    0    0    -1  
$EndComp
$Comp
L Driver_Motor:L298HN U?
U 1 1 61FA81C4
P 5500 1750
F 0 "U?" H 5500 2631 50  0000 C CNN
F 1 "L298HN" H 5500 2540 50  0000 C CNN
F 2 "Package_TO_SOT_THT:TO-220-15_P2.54x2.54mm_StaggerOdd_Lead4.58mm_Vertical" H 5550 1100 50  0001 L CNN
F 3 "http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000240.pdf" H 5650 2000 50  0001 C CNN
	1    5500 1750
	1    0    0    -1  
$EndComp
$Comp
L Device:R R?
U 1 1 61FA8C0C
P 5450 3150
F 0 "R?" V 5657 3150 50  0000 C CNN
F 1 "2R7 0.25W" V 5566 3150 50  0000 C CNN
F 2 "" V 5380 3150 50  0001 C CNN
F 3 "~" H 5450 3150 50  0001 C CNN
	1    5450 3150
	0    -1   -1   0   
$EndComp
$Comp
L Device:R R?
U 1 1 61FA9377
P 5450 2800
F 0 "R?" V 5657 2800 50  0000 C CNN
F 1 "2R7 0.25W" V 5566 2800 50  0000 C CNN
F 2 "" V 5380 2800 50  0001 C CNN
F 3 "~" H 5450 2800 50  0001 C CNN
	1    5450 2800
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5300 2450 5300 2800
Wire Wire Line
	5200 2450 5200 3150
Wire Wire Line
	5200 3150 5300 3150
Wire Wire Line
	5600 3150 5700 3150
Wire Wire Line
	5700 3150 5700 2800
Wire Wire Line
	5700 2500 5500 2500
Wire Wire Line
	5500 2500 5500 2450
Wire Wire Line
	5600 2800 5700 2800
Connection ~ 5700 2800
Wire Wire Line
	5700 2800 5700 2500
Wire Wire Line
	5700 3150 5700 3300
Connection ~ 5700 3150
Wire Wire Line
	5600 800  5600 1000
$Comp
L power:+12V #PWR?
U 1 1 61FAD530
P 5600 800
F 0 "#PWR?" H 5600 650 50  0001 C CNN
F 1 "+12V" H 5615 973 50  0000 C CNN
F 2 "" H 5600 800 50  0001 C CNN
F 3 "" H 5600 800 50  0001 C CNN
	1    5600 800 
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR?
U 1 1 61FAE16B
P 5700 3300
F 0 "#PWR?" H 5700 3050 50  0001 C CNN
F 1 "GND" H 5705 3127 50  0000 C CNN
F 2 "" H 5700 3300 50  0001 C CNN
F 3 "" H 5700 3300 50  0001 C CNN
	1    5700 3300
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR?
U 1 1 61FAE8C9
P 5300 800
F 0 "#PWR?" H 5300 650 50  0001 C CNN
F 1 "+5V" H 5315 973 50  0000 C CNN
F 2 "" H 5300 800 50  0001 C CNN
F 3 "" H 5300 800 50  0001 C CNN
	1    5300 800 
	1    0    0    -1  
$EndComp
Wire Wire Line
	5300 800  5300 1000
Wire Wire Line
	5300 1000 5500 1000
Wire Wire Line
	5500 1000 5500 1050
Wire Wire Line
	2050 1900 1500 1900
Wire Wire Line
	2050 2000 1500 2000
Wire Wire Line
	2050 2300 1500 2300
Wire Wire Line
	2050 2400 1500 2400
Text Label 1600 1900 0    50   ~ 0
M1PWM
Text Label 1600 2000 0    50   ~ 0
M2PWM
Text Label 1600 2300 0    50   ~ 0
M3PWM
Text Label 1600 2400 0    50   ~ 0
M4PWM
Wire Wire Line
	2050 1600 1300 1600
Wire Wire Line
	2050 1800 1300 1800
Wire Wire Line
	2050 2200 1300 2200
Wire Wire Line
	2050 2600 1300 2600
Wire Wire Line
	2050 2700 1300 2700
Text Label 1600 1600 0    50   ~ 0
M1A
Text Label 1600 1700 0    50   ~ 0
M1B
Text Label 1600 1800 0    50   ~ 0
M2A
Text Label 1600 2100 0    50   ~ 0
M2B
Text Label 1600 2200 0    50   ~ 0
M3A
Text Label 1600 2500 0    50   ~ 0
M3B
Text Label 1600 2600 0    50   ~ 0
M4A
Text Label 1600 2700 0    50   ~ 0
M4B
Text Label 3150 2100 0    50   ~ 0
M1SENSE
Text Label 3150 2200 0    50   ~ 0
M2SENSE
Text Label 3150 2300 0    50   ~ 0
M3SENSE
Text Label 3150 2400 0    50   ~ 0
M4SENSE
Wire Wire Line
	5300 2800 3850 2800
Connection ~ 5300 2800
Wire Wire Line
	2050 1700 1300 1700
Entry Bus Bus
	4550 1450 4450 1550
Wire Wire Line
	4900 1450 4550 1450
Wire Wire Line
	4900 1850 4550 1850
Entry Bus Bus
	4550 1850 4450 1950
Entry Bus Bus
	1500 1900 1400 2000
Entry Bus Bus
	1400 2100 1500 2000
Wire Bus Line
	1400 3700 4450 3700
Wire Wire Line
	1550 2100 1550 2150
Wire Wire Line
	1550 2150 1300 2150
Wire Wire Line
	1550 2100 2050 2100
Wire Wire Line
	1550 2500 1550 2550
Wire Wire Line
	1550 2550 1300 2550
Wire Wire Line
	1550 2500 2050 2500
Entry Bus Bus
	1500 2300 1400 2400
Entry Bus Bus
	1500 2400 1400 2500
Entry Bus Bus
	1300 1600 1200 1700
Entry Bus Bus
	1300 1700 1200 1800
Entry Bus Bus
	1300 1800 1200 1900
Entry Bus Bus
	1300 2150 1200 2250
Entry Bus Bus
	1300 2200 1200 2300
Entry Bus Bus
	1300 2550 1200 2650
Entry Bus Bus
	1300 2600 1200 2700
Entry Bus Bus
	1300 2700 1200 2800
Wire Bus Line
	1200 3750 4000 3750
Entry Bus Bus
	4000 1350 4100 1250
Entry Bus Bus
	4000 1450 4100 1350
Entry Bus Bus
	4000 1750 4100 1650
Entry Bus Bus
	4000 1850 4100 1750
Wire Wire Line
	4100 1250 4900 1250
Wire Wire Line
	4100 1350 4900 1350
Wire Wire Line
	4900 1650 4100 1650
Wire Wire Line
	4900 1750 4100 1750
Text Label 4600 1250 0    50   ~ 0
M1A
Text Label 4600 1350 0    50   ~ 0
M1B
Text Label 4600 1450 0    50   ~ 0
M1PWM
Text Label 4600 1650 0    50   ~ 0
M2A
Text Label 4600 1750 0    50   ~ 0
M2B
Text Label 4600 1850 0    50   ~ 0
M2PWM
Entry Bus Bus
	3650 2100 3750 2200
Entry Bus Bus
	3650 2200 3750 2300
Entry Bus Bus
	3650 2300 3750 2400
Entry Bus Bus
	3650 2400 3750 2500
Wire Wire Line
	3050 2100 3650 2100
Wire Wire Line
	3050 2200 3650 2200
Wire Wire Line
	3050 2300 3650 2300
Wire Wire Line
	3050 2400 3650 2400
Entry Bus Bus
	3850 2800 3750 2700
Entry Bus Bus
	3850 3150 3750 3050
Wire Wire Line
	5200 3150 3850 3150
Connection ~ 5200 3150
Text Label 4650 2800 0    50   ~ 0
M1SENSE
Text Label 4650 3150 0    50   ~ 0
M2SENSE
Wire Wire Line
	6100 1550 6200 1550
Wire Wire Line
	6100 1650 6500 1650
Wire Wire Line
	6100 1850 6800 1850
$Comp
L Device:D D?
U 1 1 61FD2D44
P 6200 1200
F 0 "D?" V 6246 1121 50  0000 R CNN
F 1 "D" V 6155 1121 50  0000 R CNN
F 2 "" H 6200 1200 50  0001 C CNN
F 3 "~" H 6200 1200 50  0001 C CNN
	1    6200 1200
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD3F99
P 6500 1200
F 0 "D?" V 6546 1121 50  0000 R CNN
F 1 "D" V 6455 1121 50  0000 R CNN
F 2 "" H 6500 1200 50  0001 C CNN
F 3 "~" H 6500 1200 50  0001 C CNN
	1    6500 1200
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD473A
P 6800 1200
F 0 "D?" V 6846 1121 50  0000 R CNN
F 1 "D" V 6755 1121 50  0000 R CNN
F 2 "" H 6800 1200 50  0001 C CNN
F 3 "~" H 6800 1200 50  0001 C CNN
	1    6800 1200
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD58E6
P 7100 1200
F 0 "D?" V 7146 1121 50  0000 R CNN
F 1 "D" V 7055 1121 50  0000 R CNN
F 2 "" H 7100 1200 50  0001 C CNN
F 3 "~" H 7100 1200 50  0001 C CNN
	1    7100 1200
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD6481
P 7100 2250
F 0 "D?" V 7146 2171 50  0000 R CNN
F 1 "D" V 7055 2171 50  0000 R CNN
F 2 "" H 7100 2250 50  0001 C CNN
F 3 "~" H 7100 2250 50  0001 C CNN
	1    7100 2250
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD6C22
P 6800 2250
F 0 "D?" V 6846 2171 50  0000 R CNN
F 1 "D" V 6755 2171 50  0000 R CNN
F 2 "" H 6800 2250 50  0001 C CNN
F 3 "~" H 6800 2250 50  0001 C CNN
	1    6800 2250
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD6FE0
P 6500 2250
F 0 "D?" V 6546 2171 50  0000 R CNN
F 1 "D" V 6455 2171 50  0000 R CNN
F 2 "" H 6500 2250 50  0001 C CNN
F 3 "~" H 6500 2250 50  0001 C CNN
	1    6500 2250
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FD74C0
P 6200 2250
F 0 "D?" V 6246 2171 50  0000 R CNN
F 1 "D" V 6155 2171 50  0000 R CNN
F 2 "" H 6200 2250 50  0001 C CNN
F 3 "~" H 6200 2250 50  0001 C CNN
	1    6200 2250
	0    -1   -1   0   
$EndComp
Wire Wire Line
	6200 1350 6200 1550
Connection ~ 6200 1550
Wire Wire Line
	6200 1550 6200 2100
Wire Wire Line
	6500 1350 6500 1650
Connection ~ 6500 1650
Wire Wire Line
	6500 1650 6500 2100
Wire Wire Line
	6800 1350 6800 1850
Connection ~ 6800 1850
Wire Wire Line
	6800 1850 6800 2100
Wire Wire Line
	6100 1950 7100 1950
Wire Wire Line
	7100 1350 7100 1950
Connection ~ 7100 1950
Wire Wire Line
	7100 1950 7400 1950
Wire Wire Line
	7100 1950 7100 2100
Wire Wire Line
	6800 1850 7400 1850
Wire Wire Line
	6500 1650 7400 1650
Wire Wire Line
	6200 1550 7400 1550
Wire Wire Line
	6200 1050 6500 1050
Connection ~ 6500 1050
Wire Wire Line
	6500 1050 6800 1050
Connection ~ 6800 1050
Wire Wire Line
	6800 1050 7100 1050
Wire Wire Line
	7100 2400 6800 2400
Connection ~ 6500 2400
Wire Wire Line
	6500 2400 6200 2400
Connection ~ 6800 2400
Wire Wire Line
	6800 2400 6500 2400
Wire Wire Line
	6200 1050 6200 1000
Wire Wire Line
	6200 1000 5600 1000
Connection ~ 6200 1050
Connection ~ 5600 1000
Wire Wire Line
	5600 1000 5600 1050
Wire Wire Line
	5700 2500 6200 2500
Wire Wire Line
	6200 2500 6200 2400
Connection ~ 5700 2500
Connection ~ 6200 2400
$Comp
L Driver_Motor:L298HN U?
U 1 1 61FFD7F0
P 5500 5150
F 0 "U?" H 5500 6031 50  0000 C CNN
F 1 "L298HN" H 5500 5940 50  0000 C CNN
F 2 "Package_TO_SOT_THT:TO-220-15_P2.54x2.54mm_StaggerOdd_Lead4.58mm_Vertical" H 5550 4500 50  0001 L CNN
F 3 "http://www.st.com/st-web-ui/static/active/en/resource/technical/document/datasheet/CD00000240.pdf" H 5650 5400 50  0001 C CNN
	1    5500 5150
	1    0    0    -1  
$EndComp
$Comp
L Device:R R?
U 1 1 61FFD7F6
P 5450 6550
F 0 "R?" V 5657 6550 50  0000 C CNN
F 1 "2R7 0.25W" V 5566 6550 50  0000 C CNN
F 2 "" V 5380 6550 50  0001 C CNN
F 3 "~" H 5450 6550 50  0001 C CNN
	1    5450 6550
	0    -1   -1   0   
$EndComp
$Comp
L Device:R R?
U 1 1 61FFD7FC
P 5450 6200
F 0 "R?" V 5657 6200 50  0000 C CNN
F 1 "2R7 0.25W" V 5566 6200 50  0000 C CNN
F 2 "" V 5380 6200 50  0001 C CNN
F 3 "~" H 5450 6200 50  0001 C CNN
	1    5450 6200
	0    -1   -1   0   
$EndComp
Wire Wire Line
	5300 5850 5300 6200
Wire Wire Line
	5200 5850 5200 6550
Wire Wire Line
	5200 6550 5300 6550
Wire Wire Line
	5600 6550 5700 6550
Wire Wire Line
	5700 6550 5700 6200
Wire Wire Line
	5700 5900 5500 5900
Wire Wire Line
	5500 5900 5500 5850
Wire Wire Line
	5600 6200 5700 6200
Connection ~ 5700 6200
Wire Wire Line
	5700 6200 5700 5900
Wire Wire Line
	5700 6550 5700 6700
Connection ~ 5700 6550
Wire Wire Line
	5600 4200 5600 4400
$Comp
L power:+12V #PWR?
U 1 1 61FFD80F
P 5600 4200
F 0 "#PWR?" H 5600 4050 50  0001 C CNN
F 1 "+12V" H 5615 4373 50  0000 C CNN
F 2 "" H 5600 4200 50  0001 C CNN
F 3 "" H 5600 4200 50  0001 C CNN
	1    5600 4200
	1    0    0    -1  
$EndComp
$Comp
L power:GND #PWR?
U 1 1 61FFD815
P 5700 6700
F 0 "#PWR?" H 5700 6450 50  0001 C CNN
F 1 "GND" H 5705 6527 50  0000 C CNN
F 2 "" H 5700 6700 50  0001 C CNN
F 3 "" H 5700 6700 50  0001 C CNN
	1    5700 6700
	1    0    0    -1  
$EndComp
$Comp
L power:+5V #PWR?
U 1 1 61FFD81B
P 5300 4200
F 0 "#PWR?" H 5300 4050 50  0001 C CNN
F 1 "+5V" H 5315 4373 50  0000 C CNN
F 2 "" H 5300 4200 50  0001 C CNN
F 3 "" H 5300 4200 50  0001 C CNN
	1    5300 4200
	1    0    0    -1  
$EndComp
Wire Wire Line
	5300 4200 5300 4400
Wire Wire Line
	5300 4400 5500 4400
Wire Wire Line
	5500 4400 5500 4450
Wire Wire Line
	5300 6200 3850 6200
Connection ~ 5300 6200
Entry Bus Bus
	4550 4900 4450 4800
Wire Wire Line
	4900 4850 4550 4850
Wire Wire Line
	4900 5250 4550 5250
Entry Bus Bus
	4550 5300 4450 5200
Entry Bus Bus
	4100 4650 4000 4550
Entry Bus Bus
	4100 4750 4000 4650
Entry Bus Bus
	4100 5050 4000 4950
Entry Bus Bus
	4000 5050 4100 5150
Wire Wire Line
	4100 4650 4900 4650
Text Label 4600 4650 0    50   ~ 0
M3A
Text Label 4600 4750 0    50   ~ 0
M3B
Text Label 4600 4850 0    50   ~ 0
M3PWM
Text Label 4600 5050 0    50   ~ 0
M4A
Text Label 4600 5150 0    50   ~ 0
M4B
Text Label 4600 5250 0    50   ~ 0
M4PWM
Entry Bus Bus
	3850 6200 3750 6100
Entry Bus Bus
	3850 6550 3750 6450
Wire Wire Line
	5200 6550 3850 6550
Connection ~ 5200 6550
Text Label 4650 6200 0    50   ~ 0
M3SENSE
Text Label 4650 6550 0    50   ~ 0
M4SENSE
Wire Wire Line
	6100 4950 6200 4950
Wire Wire Line
	6100 5050 6500 5050
Wire Wire Line
	6100 5250 6800 5250
$Comp
L Device:D D?
U 1 1 61FFD845
P 6200 4600
F 0 "D?" V 6246 4521 50  0000 R CNN
F 1 "D" V 6155 4521 50  0000 R CNN
F 2 "" H 6200 4600 50  0001 C CNN
F 3 "~" H 6200 4600 50  0001 C CNN
	1    6200 4600
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD84B
P 6500 4600
F 0 "D?" V 6546 4521 50  0000 R CNN
F 1 "D" V 6455 4521 50  0000 R CNN
F 2 "" H 6500 4600 50  0001 C CNN
F 3 "~" H 6500 4600 50  0001 C CNN
	1    6500 4600
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD851
P 6800 4600
F 0 "D?" V 6846 4521 50  0000 R CNN
F 1 "D" V 6755 4521 50  0000 R CNN
F 2 "" H 6800 4600 50  0001 C CNN
F 3 "~" H 6800 4600 50  0001 C CNN
	1    6800 4600
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD857
P 7100 4600
F 0 "D?" V 7146 4521 50  0000 R CNN
F 1 "D" V 7055 4521 50  0000 R CNN
F 2 "" H 7100 4600 50  0001 C CNN
F 3 "~" H 7100 4600 50  0001 C CNN
	1    7100 4600
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD85D
P 7100 5650
F 0 "D?" V 7146 5571 50  0000 R CNN
F 1 "D" V 7055 5571 50  0000 R CNN
F 2 "" H 7100 5650 50  0001 C CNN
F 3 "~" H 7100 5650 50  0001 C CNN
	1    7100 5650
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD863
P 6800 5650
F 0 "D?" V 6846 5571 50  0000 R CNN
F 1 "D" V 6755 5571 50  0000 R CNN
F 2 "" H 6800 5650 50  0001 C CNN
F 3 "~" H 6800 5650 50  0001 C CNN
	1    6800 5650
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD869
P 6500 5650
F 0 "D?" V 6546 5571 50  0000 R CNN
F 1 "D" V 6455 5571 50  0000 R CNN
F 2 "" H 6500 5650 50  0001 C CNN
F 3 "~" H 6500 5650 50  0001 C CNN
	1    6500 5650
	0    -1   -1   0   
$EndComp
$Comp
L Device:D D?
U 1 1 61FFD86F
P 6200 5650
F 0 "D?" V 6246 5571 50  0000 R CNN
F 1 "D" V 6155 5571 50  0000 R CNN
F 2 "" H 6200 5650 50  0001 C CNN
F 3 "~" H 6200 5650 50  0001 C CNN
	1    6200 5650
	0    -1   -1   0   
$EndComp
Wire Wire Line
	6200 4750 6200 4950
Connection ~ 6200 4950
Wire Wire Line
	6200 4950 6200 5500
Wire Wire Line
	6500 4750 6500 5050
Connection ~ 6500 5050
Wire Wire Line
	6500 5050 6500 5500
Wire Wire Line
	6800 4750 6800 5250
Connection ~ 6800 5250
Wire Wire Line
	6800 5250 6800 5500
Wire Wire Line
	6100 5350 7100 5350
Wire Wire Line
	7100 4750 7100 5350
Connection ~ 7100 5350
Wire Wire Line
	7100 5350 7400 5350
Wire Wire Line
	7100 5350 7100 5500
Wire Wire Line
	6800 5250 7400 5250
Wire Wire Line
	6500 5050 7400 5050
Wire Wire Line
	6200 4950 7400 4950
Wire Wire Line
	6200 4450 6500 4450
Connection ~ 6500 4450
Wire Wire Line
	6500 4450 6800 4450
Connection ~ 6800 4450
Wire Wire Line
	6800 4450 7100 4450
Wire Wire Line
	7100 5800 6800 5800
Connection ~ 6500 5800
Wire Wire Line
	6500 5800 6200 5800
Connection ~ 6800 5800
Wire Wire Line
	6800 5800 6500 5800
Wire Wire Line
	6200 4450 6200 4400
Wire Wire Line
	6200 4400 5600 4400
Connection ~ 6200 4450
Connection ~ 5600 4400
Wire Wire Line
	5600 4400 5600 4450
Wire Wire Line
	5700 5900 6200 5900
Wire Wire Line
	6200 5900 6200 5800
Connection ~ 5700 5900
Connection ~ 6200 5800
Wire Wire Line
	4100 5050 4900 5050
Wire Wire Line
	4900 5150 4100 5150
Wire Wire Line
	4550 5250 4550 5300
Wire Wire Line
	4550 4850 4550 4900
Wire Wire Line
	4100 4750 4900 4750
Connection ~ 4000 3750
Connection ~ 4450 3700
Wire Bus Line
	4450 1550 4450 3700
Wire Bus Line
	4450 3700 4450 5200
Wire Bus Line
	4000 1350 4000 3750
Wire Bus Line
	1400 2000 1400 3700
Wire Bus Line
	4000 3750 4000 5050
Wire Bus Line
	3750 2200 3750 6450
Wire Bus Line
	1200 1700 1200 3750
$EndSCHEMATC