1 2 3 4 5 6

IMU(SERIAL)
+3V3 +3V3 +5V +5V +3V3
SV1 SV2
33 34 33 34 JP2 JP3
DIO15/I2C_SDA DIO15/I2C_SDA J11-1
31 32 31 32 1 1
DIO10/PWM2/2.1B DIO14/I2C_SCL DIO10/PWM2/2.1B DIO14/I2C_SCL UART_TX J11-2
29 30 29 30 2 2
DIO9/PWM1/2.1B DIO9/PWM1/2.1B UART_RX J11-3
ADIO8/PWM0/2.1B
27 28 DIO8/PWM0/2.1B
27 28
J11-4 A
DIO7/2.1B
25 26 DIO13 DIO7/2.1B
25 26 DIO13
DIO6
23 24 DIO6
23 24
DIO5
21 22 DIO12/ENC_B DIO5
21 22 DIO12/ENC_B DGND
DIO4
19 20 DIO4
19 20
DIO3
17 18 DIO11/ENC_A DIO3
17 18 DIO11/ENC_A
DIO2
15 16 DIO2
15 16 IMU(I2C)
DIO1
13 14 UART_TX DIO1
13 14 UART_TX
11 12 11 12 +5V
DIO0 DIO0
AI3
9 10 UART_RX AI3
9 10 UART_RX
7 8 7 8
AI2 AI2 J12-1
5 6 5 6 JP4 JP6
AI1 AI1 J12-2
3 4 3 4 1 1
AI0 AO1 AI0 AO1 DIO14/I2C_SCL J12-3
1 2 1 2 2 2
MYRIO_5V/3.4C AO0 MYRIO_5V/3.4C AO0 DIO15/I2C_SDA J12-4

DGND DGND DGND

B B
INFRARED 1 INFRARED 2 INFRARED 3 INFRARED 4 DGND DGND
+5V +5V +5V +5V
SERVO 1

SERVO_SUPPLY/3.4B
J1-1 J4-1 J7-1 J9-1 DIO15/I2C_SDA J13-3
J1-2 J4-2 J7-2 J9-2SERVO_SUPPLY/3.4B J13-2
AI0 J1-3 AI1 J4-3 AI2 J7-3 AI3 J9-3 J13-1

+16V/2.5A
DGND DGND DGND DGND DGND
+5V
ULTRASONIC 1 ULTRASONIC 2
+5V +5V LIMIT SWITCH 1 LIMIT SWITCH 2
SERVO 2
C C

LED2 470

LED3 470
SERV_IND
LED1 2k7
R1

R2

R3
DIO0 J2-3 DIO1 J5-3 DIO2 J8-3 DIO3 J10-3 DIO14/I2C_SCL J14-3

PWR
J2-2 J5-2 J8-2 J10-2
SERVO_SUPPLY/3.4B J14-2

5V
J2-1 J5-1 J8-1 J10-1 J14-1

DGND DGND DGND DGND

DGND DGND DGND DGND

LINE SENSOR ENCODER 1 ENCODER 2

+5V +5V +5V
SERVO 3

J16-1 J3-1 J6-1 DIO3 J15-3

J16-2 J3-2 J6-2 SERVO_SUPPLY/3.4B J15-2
D DIO0 J16-3 DIO4 J3-3 DIO11/ENC_A J6-3 J15-1 D
DIO1 J16-4 DIO5 J3-4 DIO12/ENC_B J6-4
DIO2 J16-5
DIO3 J16-6 DGND
DGND DGND Badak Driver Motor Controller_V5
6/26/2021 10:37 PM
DGND
Sheet: 1/3
1 2 3 4 5 6
 1 2 3 4 5 6

+5V
+16V/1.5C
+5V U1
7
10k VS
8 RN2A
1
M0_LPWM R10 2 4*2
10k M0_RPWM IN OUT M0+/3.6B
M0+/3.6B
7 RN2B
2 3
M0_RPWM 10k INH
A 6 A

2k7
R22
10k R11 IS
6 RN2C
3 5
M1_LPWM SR
1
10k 10k GND
5 RN2D
4

10k
R18
M1_RPWM

M+_IND
BTN7960B

M-_IND
LED6
LED4
+5V
ULN1 DGND U2
4 5 I1 1 18 7
DIO10/PWM2/1.2A M0_LPWM VS
RN1D 10k R12 M0-/3.6B
I2 2 17 2 4*2
M0_RPWM M0_LPWM IN OUT M0-/3.6B
3 6 3
DIO9/PWM1/1.2A 10k INH
RN1C 10k 3 16 6
R13 IS
5
SR
4 15 1
10k GND

10k
R19
B 5 14 BTN7960B B
2 7 I6 6 13
DIO8/PWM0/1.2A M1_LPWM
RN1B 10k
I7 7 12 DGND DGND
M1_RPWM
DIO7/1.2A
1 8
RN1A 10k 8 11 +16V/1.5C
+5V U3
9 10 7
VS
R14 2 4*2
M1_RPWM IN OUT M1+/3.6B
M1-/3.6B
3
10k INH
DGND 6

2k7
R23
R15 IS
5
SR
1
10k GND

10k
R20

M+_IND
BTN7960B
C C

M-_IND
LED7
LED5
DGND U4
7
VS
R16 2 4*2
M1+/3.6B
M1_LPWM IN OUT M1-/3.6B
3
10k INH
6
R17 IS
5
SR
1
10k GND

10k
R21
BTN7960B

DGND DGND
D D

Badak Driver Motor Controller_V5

6/26/2021 10:37 PM
Sheet: 2/3
1 2 3 4 5 6
 1 2 3 4 5 6

U5
DC-DC-STEP-DOWN-MP1584SMD
Q1
AO4435
+16V/2.5A +16V/2.5A IN+ OUT+ REG_5V

1000u/25V
100n

+
PWR+

12V
A A

C2

C4
D1
X1-1
IN- OUT-
X1-2
DGND

DGND DGND
100k
DGND R4

DGND SERVO_SUPPLY
JP5
Q2

1
2
3
AO4435
SVDC REG_5V SERVO_SUPPLY/1.5C
SVDC M0+/2.6A X3-1
SVDC C3 C5 M0
B X2-1 M0-/2.6B X3-2
B
100n 100n
X2-2 D2
4V7 DGND
100k

M1+/2.6C X4-1
R5

DGND M1
M1-/2.6C X4-2
DGND LOGIC_SUPPLY
U6 JP1 +5V
DC-DC-STEP-DOWN-MP1584SMD

1
2
3
+5V
X5-1 IN+ OUT+ VCC_5V VCC_5V

C X5-2 MYRIO_5V/1.2B C
IN- OUT-

DGND DGND DGND

D D
H1
MOUNT-PAD-ROUND3.0
Badak Driver Motor Controller_V5
H2 6/26/2021 10:37 PM
MOUNT-PAD-ROUND3.0
Sheet: 3/3
1 2 3 4 5 6