Zumo 32U4 main board
©
2015
–
2020 Pololu Corporation
www.pololu.com
Schematic diagram
Motors, encoders, and IR emitters
Page 2 of 5
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
A5
EAR
5V
GND
3
VS
1
Q
2
0.1 uF
C11
10k
R13
5V
GND
3
VS
1
Q
2
10k
R14
5V
PE2
EAL
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
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
5
2
5V
IN1
4
3
6
5
2
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
IR emitters
Motors
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
R
