In the Bug Schematic diagram below, we have a Motor that is running on a 12V Pololu 37D, Diodes are MUR1100FG, the LM2940 is a voltage regulator to drop the batter down to 5V for the ATmega and the H-bridges (the H-bridge needs both the 7.2 and 5 volts), pins b1 and b2 are the PWMs (pin1 in the H-bridge is enabled), pins b0, b3, b4, b5 are pulled high or low -- these control the direction in which the motor rotates, and we have to assume here that there is just a global command ground between all of them. EdrawMax Online comes with free electrical circuit symbols that let you create a similar-looking bug schematic diagram for your academic project.
