1 2 3 4 5 6 7 8

VM
VM VM S2 ON U10
VM
1

2
Voltage Detection

AMS1117
SS3 U5 LM2596S VCC

OUT 3.3V
BAT
T1 TL431 4

NC
IN4148 2 1 FEEDBACK
2

IN

2
R9 R18 IN R14

GND
10K 10K 3 20K

2
VM

1
R1 J22

IN
ON/OFF
R7 VM H1 POWERC

1
2
3
C20 DC S3 5.1K C22 1
20K 2596EN VM 2 1 2

GND

2
A
K
R
1

1
470UF S4 OUT

1
2
R20

21
2

1
1
R19 U11 1 R10 R15 2

3
2
1
1 8 S1 SS1 100uH LED

2
POW VCC

1
100K 1OUT VCC 2 C1 3.3K C2 C4 100K 3.3V
A C21 6V 1.1A A

1
SS34 470UF 10K 2PIN
1
3
2

2 GND

21
7 470UF

1
R8 1IN- 2OUT C3 470UF 104

2
DZ

3
2
3

2
8.2k C19 6 104 C13

1
1IN+ 104

21
2IN- SS4

2
L1

1
104 4 5 2596EN 104
GND 2IN+ 1N4007

2
L3

2
LM393

2
2
power
power supply 3.3V supply

Reset button
3.3V J23 MVCC
RGB module interface MVCC MVCC
L2

2
VCC 2 R2 21 1 R4

2
J24

2
1 R17 K3 10K

2
5.1K Passive buzzer LED B 2 K2 10K 1 2 RES 2 R6 11 8550
FM 1 R16 8550 1 2 K2
2
R3 SS14 U6 21 LED G3 1K Q1
LED16

1
1 VCC Q2 LED R 4 c24 51 RES
10K
SS2 GND VCC 1K

1
104
PA10 1 2 2 15

32
TXD R232 C6 Buzzer XH 2.54 4P R5
S5 ON K1 BLUE/WIFI

3
104 10K
1

PA9 3 14 Start button

RXD RTS#
C5 4 13
GND
RXD
TDX

VCC
BAT

V3 DTR#
NC

1
104
IN

S6 VCC UD+5 12
1 UD+ DCD#
VCC UD- 6 11
B 2 UD- UD- RI# MVCC B
RX 4
3

2
1
1
TX 2
3

D- MVCC
3 UD+ 7 10 U12 VCC
D+ 12M XI DSR# J16
MVCC 4 Color recognition module interface 1
NC

2
5 1 82 9 R12 R11
GND C7 XO CTS# MVCC M1 U13 l9110s 2 MVCC
MVCC 1 1 8 10K 10K

DATA
bluetooth module interface CH340G Infrared receiver J27 OA GND

GND
VCC
Micro USB X1 1 2 7 MOTOR 3
33pF C8 33pF 2 VCC IB
3 6

1
GS 2 VCC IA

1
R21 4 5 3PIN
MOTO OB GND 3.3V
10K 3

1
2
3
IRN
XH2.54 3P

1
MVCC
CH340 module R13 3.3V/5V level swtich

2
Fan motor 0R

2
Tracking module interface CCD
Left motor interface gyroscope Infrared obstacle
VM 100UF/16V MVCC J7
MVCC J8 6
C9 C10 2 R25 1
AO1 J13 GND avoidance/Light seeking
MVCC 5
1

C11 U7 MPU6050 1 VDD

104 0R C15 1 1 8 VCC A0 4
104 IN1 2
2

VCC INT X1 A0
AO2 104 2 2 7 IN2 3 CLK 3
GND ADO X2 CLK
SCL 3 6 SI 2
2

SCL XCL IN3 4 SI

2 R26 1
AO1 J11 X3 MVCCJ9
1

U9 TB6612FNG SDA 4 5 IN4 5 1

J15 1 24 SDA XDA X4 NC REC 1
IRN 1 2 IRN-T AO1 VM1 0R C16 1 6 VCC
2

AO1 2 23 PWMA GND CCD 6PIN

IN1 3 4 IN1-T AO1 PWMA AO2 104 2 IN5 2
3 22 AIN2 OUT1
IN2 5 6 IN2-T PGND1 AIN2 PH2.0 6P IN6 3 Right socket
4 21 AIN1 VCC OUT2
4
1

IN3 7 8 IN3-T PGND1 AIN1 Right motor interface GND

C IN4 9 10IN4-T 5 20 C
AO2 VCC PS2 handle receiver PH2.0 4P
IN5 11 12 IN1-T AO2 6 19 BO2 J12
AO2 STBY C12
IN6 13 14 IN2-T 7 18 C17
BO2 GND 1 module interface
2

IN7 15 16 IN3-T BO2 8 17 BIN1 104 J20 MVCCJ10

9
BO2 BIN1
16 BIN2 2 R27
BO1 1 104 2 U8 NRF 24L01 MOS 1
VCC J17
1
IN8 17 18 IN4-T PGND2 BIN2 1 2 3.3V 1 VCC
10 15 PWMB 0R GND 3.3V MIS 2 VCC IN7 2
1

PGND2 PWMB BO2 J14 RST3 4 CS SCL C2 OUT1

TXM9 11 14 RST CS 3 SCL IN8 3 Left socket
BO1 VM3 C18 SCK5 6 MOS SDA C3 OUT2
BO1 12 13 SCK MOS MVCC4 SDA 4
2

BO1 VM2 1 MIS7 8 4 GND

Arduino function switch jumper 2 R28
BO1 1 104 2 MIS IRQ CS 5 GND
PH2.0 4P
SCK 6 PH2.0 4PIN
0R
PGND

2 R24
1

Motor
1 drive chip
0R NRF 24L01 module PH2.0 6Pin Ultrasonic module interface
STCMinimum system interface Raspberry Pi interface
VCC
U3 STC Servo interface
IN1 1 40
Arduino interface STM32 interface P1.0 VCC
IN2 2 39 J6 RSTMOTOR VCC
P1.1 P0.0 U4 BE RRY J1 J2 J3
IN3 3 38 J5 CS 1 2 J1 1 J2 1 J3 1
U1 U2 STM32 P1.2 P0.1 3.3V 5V IO IO IO
IN4 1 40 IN4 4 37 J4 MOS J6 RST MOTOR IRN-T3 4 2 2 2
32 SCL PB12 GND P1.3 P0.2 IO2(SDA.1) 5V VCC VCC VCC VCC VCC VCC
SCL J2 A0 SCK 2 39 IN5 5 36 J3 MIS IN2 5 6 3 3 3
P1.4 P0.3 IO3(SCL.1) GND
ARDUINO

31 SDA PB13 GND IN6 6 35 J2 SCK IN3 7 8 RX GND GND GND

SDA J3 SI MIS 3 38 P1.5 P0.4 IO4 IO14(TXD)
30 PB14 VCC 3.3V IN7 7 34 J1 9 10 TX DUO DUO DUO
AREF J4 CLK MOS4 37 RES P1.6 P0.5 GND IO15(RXD)
29 PB15 R IN8 8 33 SDA IN5 11 12 IN4
GND J5 CS 5 36 SDA P1.7 P0.6 IO17 IO18 J4 J5 J6
1 28 SCL C PA8 PB11 32 SCL LED G13 14 J4 1 J5 1 J6 1
13 PA9 6 35 SCL P0.7 IO27 GND IO IO IO
2 27 SDA C PA9 PB10 LED R15 16 J1 2 2
5V 12 PA10 7 34LED R 51 RES 9 IO22 IO23 2
RES 3 26 LED R PA10 PB1 RST 17 18 LED B VCC VCC VCC 3
VCC VCC
3
VCC
VCC RES ~11 J1 8 33LED G PA10 TX 10 31 3.3V IO24 3 GND GND
4 25 LED G PA11 PB0 RXD EA J4 MOS 19 20 GND
3.3V ~10 SDA C 9 32LED B PA9 RX 11 30 IO10(MOSI) GND
D 5 24 LED B PA12 PA7 TXD ALE J3 MIS 21 22 J5 CS DUO DUO DUO D
5V ~9 SCL C 10 31 IN7 LED R12 29 IO9(MISO) IO25
6 23 AIN2 PA15 PA6 INT0 PSEN J2 SCK 23 24 K2 FM
GND 8 IN8 11 30 IN6 LED G13 IO11(SCLK) IO8
7 PB3 PA5 INT1 25 26 IN8
GND BIN2 12 29 IN5 LED B14 GND IO7
8 22 AIN1 PB4 PA4

BST-4WD V4.2 12.6v

VIN 7 BIN1 13 28 TX T0 28 K2 FM SDA C27 28 SCL C
21 PWMA PB5 PA3 IRN 15 P2.7 ID_SD(SDA.0) ID_SC(SCL.0) Title
~6 PWMB 14 27 RX T1 27 IN129 30
POWERC FM K2 9 20 PWMB PB6 PA2 SDA C 16 P2.6 IO5 GND
A0 ~5 PWMA15 26 J6 GS MOTOR RST IRN-T WR 26 PWMB IN6 31 32 IN7
J2 A0 IN1-T SCK10 19 BIN1 PB7 PA1 SCL C 17 P2.5 IO6 IO12
A1 4 AIN1 16 25 K2 FM POWERC RD 25 BIN2 PWMB 33 34
J3 SI IN2-T MIS 11 18 J1 PB8 PA0 P2.4 IO13 GND Size Number Revision
A2 ~3 AIN2 17 24 IN3 24 BIN1 BIN235 36 PWMA Yahboom
J4 CLK IN3-T MOS 12 17 BIN2 PB9 PC15 P2.3 IO19 IO16
A3 2 VCC 18 23 IN2 18 23 AIN1 BIN1 37 38 AIN2 A3
J5 IN4-T CS 13 16RX VCC 5V PC14 XTAL2 P2.2 IO26 IO20
A4 TX->1 GND19 22 IN1 19 22 AIN2 39 40 AIN1
J6 IRN-T GS MOTOR RST14 15TX GND PC13 XTAL1 P2.1 GND IO21 Date: 2019/10/28 Mon Sheet of
A5 RX<-0 VB 20 21 2 1VB 20 21 PWMA
VCC 3.3V VB GND P2.0 File: E:\yahboom\4wd \drive : Drawn
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