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PWM1

● V PP ● V DD ● GND ● PGD ● PGC. ICD2. IN 6. OUT 6. V SS. IN 5. IN 4. OUT 5. V CC. MCLR/V PP. PGD. OUT 4. PGC. GND. GND. RB5. GND. GND. QEI A. OUT 3. QEI B. 7414 Schmitt Trigger. IN 3. PWM1. PWM0. EN 2. V S. V DD. GND. V SS. AV DD. L293D H-Bridge. ● 1 ● 2 ● 3

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PWM1

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  1. ● VPP ● VDD ● GND ● PGD ● PGC ICD2 IN 6 OUT 6 VSS IN 5 IN 4 OUT 5 VCC MCLR/VPP PGD OUT 4 PGC GND GND RB5 GND GND QEI A OUT 3 QEI B 7414 Schmitt Trigger IN 3 PWM1 PWM0 EN 2 VS VDD GND VSS AVDD L293D H-Bridge ● 1 ● 2 ● 3 ● 4 ● 5 ● 6 ● 7 ● 8 ● 9 AVSS RS232 DE9F (DB9F) USART RX VCC USART TX GND 1μF T1OUT R1IN R1OUT T1IN ST232 Voltage Shifter +5V 10k Ω +5V ENC A ● ENC B ● ENC VCC ● ENC GND ● MOT + ● MOT – ● +5V +5V +5V +5V 1μF +5V 1μF +12V 1μF 1μF +5V +5V

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