PIC to RC Receiver

Hey,

I have been playing around with the idea of controlling an old RC tank via a microcontroller. The original transmitter did not work when I got it (friend had the same RC tank and I used his transmitter for a while). So it’s been laying around for a while. So I got to idea to hook it up with a PIC and make some kind of robot.

I've started to tracing the PCB tracks on the RC receiver to find the points where they meet the receiver IC. Now that it has been traced out I'm not sure at what points I need to solder the wires so that I can control it via a PIC.

PCB Traces:

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From what I can see, the motor schematic looks something like this:

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Any help will be much appreciated.

Looks pretty typical circuit for a Chinese toy motor h-bridge driver.

Just drive the 2 transistors Q4 and Q5 from 2 PIC pins;
LO LO = motor off
HI LO = forward
LO Hi = reverse

Remember to allow a decent time (0.5 second or more) with both pins LO before turning the motor on in either direction (or between reversing direction).