PE6 (INT6/AIN0)
1
UVcc
2
D-
3
D+
4
U
G
n
d
5
UCap
6
VBus
7
PB0 (SS/PCINT0)
8
PB1 (PCINT1/SCK)
9
PB2 (PDI/MOSI/PCINT2)
10
PB3 (PDO/MISO/PCINT3)
11
PB7 (OC0A/OC1C/PCINT7/RTS)
12
RESET
13
VCC
14
G
N
D
1
5
XTAL2
16
XTAL1
17
PD0 (INT0/SCL/OC0B)
18
PD1 (INT1/SDA)
19
PD2 (INT2/RXD1)
20
PD3 (INT3/TXD1)
21
PD5 (XCK1/CTS)
22
G
N
D
2
3
AVCC
24
PD4 (ICP1/ADC8)
25
PD6 (T1/OC4D/ADC9
26
PD7 (T0/OC4D/ADC10)
27
PB4 (PCINT4/ADC11)
28
PB5 (OC1A/OC4B/PCINT5/ADC12)
29
PB6 (OC1B/OC4B/PCINT6/ADC13)
30
PC6 (OC3A/OC4A)
31
PC7 (ICP3/CLK0/OC4A)
32
PE2 (HWB)
33
VCC
34
G
N
D
3
5
PF7 (ADC7/TDI)
36
PF6 (ADC6/TDO)
37
PF5 (ADC5/TMS)
38
PF4 (ADC4/TCK)
39
PF1 (ADC1)
40
PF0 (ADC0)
41
AREF
42
G
N
D
4
3
AVCC
44
P
A
D
4
5
ATmega32U4
VBUS
1
D-
2
D+
3
ID
4
GND
5
N
C
6
N
C
7
N
C
8
N
C
9
N
C
1
0
N
C
1
1
USB Micro-B
1 uF
C3
5V
L1
10 uH
0.1 uF
C5
AVCC
5V
AVCC
0.1 uF
C4
VBUS
22
R2
22
R1
nRESET
D14
D16
D15
PD5
D2
Green
1.5k
R4
PD5
D8
D9
D10
D11
D3
D2
D0
D1
D4
D12
D6
D7
D5
D13
A0
A1
5V
D1
Yellow
2.21k
R3
D13
AREF
PE2
A2
A3
A4
A5
D17
D3
Red
2.21k
R7
D17
5V
Y1
16 MHz
10 pF
C1
10 pF
C2
SW1
SW2
SW3
1k
R5
3k
R6
3k
R9
1.5k
R8
SW4
D14
1k
R10
BZ1
buzzer
D4
Q1
100k
R13
5V
D6
105k
R12
VIN
15k
R11
A1
1
2
1
2
(SDA)
(SCL)
(MOSI)
(MISO)
(SCK)
AVR3V3
(RXL/SS)
(RXL/SS)
(TXL)
(TXL)
MISO
1
VCC
2
SCK
3
MOSI
4
RST
5
GND
6
AVRISP
5V
nRESET
D14
(MISO)
D16
D15
(MOSI)
(SCK)
A-Star 32U4 Robot Controller SV with Raspberry Pi Bridge
©2016 Pololu Corporation
www.pololu.com
Schematic diagram
Microcontroller and motor drivers
Page 1 of 3
1
2
4
3
5
6
7
8
9
10
11
12
13
14
D0
D1
D2
D3
D4
D5
D6
D7
D8
D9
D10
D11
D12
D13
1
2
4
3
5
6
7
8
9
10
11
12
13
14
1
2
4
3
5
6
7
8
9
10
11
12
13
14
PE2
nRESET
D14
D16
D15
D17
PD5
AREF
A5
A4
A3
A2
A1
A0
1
2
4
3
5
6
7
8
9
10
11
12
13
14
1
2
4
3
5
6
7
8
1
2
4
3
5
6
1
2
4
3
5
6
7
8
1
2
4
3
5
6
BZCTRL
BATLEV
M1B
M1A
M2B
M2A
D9
D12
D10
PE2
VIN
0.1 uF
C23
VIN
0.1 uF
C25
DIR
6
COM
1
COM
12
VDD
10
GND
9
EN
8
FAULT
7
M2
11
M1
2
VDD
3
SNS
4
PWM
5
GND (PAD)
13
MAX14870
DIR
6
COM
1
COM
12
VDD
10
GND
9
EN
8
FAULT
7
M2
11
M1
2
VDD
3
SNS
4
PWM
5
GND (PAD)
13
MAX14870
VIN
VIN
100k
R35
100k
R36