C1

C3

100nF

U2

RD0/PSP0
RD1/PSP1
RD2/PSP2
RD3/PSP3
RD4/PSP4
RD5/PSP5
RD6/PSP6
RD7/PSP7

15
16
17
18
23
24
25
26

5
7
10
12
6
11

R4

R3

47k

47k

1
15

R1
0.5

R2

IN1
IN2
IN3
IN4
ENA
ENB

VCC

VS

U1
OUT1
OUT2
OUT3

SENSA
SENSB

OUT4

2
3

D1

D2

D3

D4

ES2A-13

ES2A-13

ES2A-13

ES2A-13

13
14

GND

Vs 36V

+88.8
L298

0.5

19
20
21
22
27
28
29
30

C2
470uF

PIC16F877A

LCD1

7
8
9
10
11
12
13
14

D0
D1
D2
D3
D4
D5
D6
D7

LM016L

RS
RW
E

RA0/AN0
RA1/AN1
RA2/AN2/VREF-/CVREF
RA3/AN3/VREF+
RA4/T0CKI/C1OUT
RA5/AN4/SS/C2OUT
RC0/T1OSO/T1CKI
RE0/AN5/RD
RC1/T1OSI/CCP2
RE1/AN6/WR
RC2/CCP1
RE2/AN7/CS
RC3/SCK/SCL
RC4/SDI/SDA
MCLR/Vpp/THV
RC5/SDO
RC6/TX/CK
RC7/RX/DT

4
5
6

8
9
10

RB0/INT
RB1
RB2
RB3/PGM
RB4
RB5
RB6/PGC
RB7/PGD

VSS
VDD
VEE

2
3
4
5
6
7

OSC1/CLKIN
OSC2/CLKOUT

100nF
33
34
35
36
37
38
39
40

1
2
3

13
14

D5

D6

D7

D8

ES2A-13

ES2A-13

ES2A-13

ES2A-13