VM
5V
MLFRONT
MLREAR
0.1 uF
C12
0.1 uF
C13
VM
VM
GND
4
VM
1
VCC
8
PH
6
EN
5
nSLEEP
7
OUT1
2
OUT2
3
GND (PPAD)
9
DRV8838
VM
5V
MRREAR
MRFRONT
GND
4
VM
1
VCC
8
PH
6
EN
5
nSLEEP
7
OUT1
2
OUT2
3
GND (PPAD)
9
DRV8838
0.1 uF
C10
0.1 uF
C11
5V
5V
5V
ERA
ERB
5V
ELA
ELB
1k
R24
1k
R23
ELX
ERX
3.3 nF
C14
3.3 nF
C15
GND
3
VS
1
Q
2
①
0.1 uF
C17
10k
R21
GND
3
VS
1
Q
2
①
10k
R22
ERB
ERA
GND
3
VS
1
Q
2
①
0.1 uF
C16
10k
R19
5V
GND
3
VS
1
Q
2
①
10k
R20
ELB
ELA
5V
5V
5V
5V
5V
Left motor
Right motor
D8
D7
PE2
A5
D9
D10
D15
D16
②
②
3pi+ 32U4 Control Board
©
2020 Pololu Corporation
www.pololu.com
Schematic diagram
Motors and encoders
R
®
②
Implemented as 74LVC1G58 multi-function gate with pin 3 tied to pin 1
①
Hall effect sensor ICs in SOT-23 packages, e.g. DRV5013
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