Fire Bird V ATMEGA2560 Hardware Manual
40
White Line Sensors
Disable
ATMEGA2560 PG2
TTL/CMOS input. Disable White line sensors
when V>2 is applied. When V<0.65 white line
sensors are turned on.
41
Sharp IR Range Finder 3
ATMEGA2560 ADC11
Analog output of Sharp IR range sensor 3
42
IR Proximity Sensor 3
ATMEGA2560 ADC6
Analog output of IR Proximity sensor 3
43
IR Proximity Sensor 4
ATMEGA2560 ADC7
Analog output of IR Proximity sensor 4
44
Sharp IR Range Finder 4
ATMEGA2560 ADC12
Analog output of Sharp IR Range sensor 4
45
Sharp IR Range Finder 5
ATMEGA2560 ADC13
Analog output of Sharp IR Range sensor 5
46
IR Proximity Sensor 5
ATMEGA2560 ADC8
Analog output of IR Proximity sensor 5
47
C1 1
ATMEGA2560 PA4
Logic input 1 for C1 motor drive
48
C1 PWM
ATMEGA2560 OC5C
PWM input for C1 motor drive
49
C1 2
ATMEGA2560 PA45
Logic input 2 for C1 motor drive
50
PWM L
ATMEGA2560 OC5A
PWM input for Left motor drive
51
L1
ATMEGA2560 PA0
Logic input 1 for Left motor drive
52
L2
ATMEGA2560 PA1
Logic input 2 for Left motor drive
53
R1
ATMEGA2560 PA2
Logic input 1 for Right motor drive
54
PWM R
ATMEGA2560 OC5B
PWM input for Right motor drive
55
R2
ATMEGA2560 PA3
Logic input 2 for Right motor drive
56
Not connected
Not Used
57
Not connected
Not Used
58
Not connected
Not Used
59
Not connected
Not Used
60
Not connected
Not Used
61
Not connected
Not Used
62
Position Encoder Left
ATMEGA2560 PE4(INT4)
Output of Left position encoder (0-5V)
63
Position Encoder Right
ATMEGA2560 PE5(INT5)
Output of Right position encoder (0-5V)
64
Position Encoder C2
ATMEGA2560 PE6(INT6)
Output of C2 position encoder (0-5V)
65
Position Encoder C1
ATMEGA2560 PE7(INT7)
Output of C1 position encoder (0-5V)
66
C2 2
ATMEGA2560 PA7
Logic input 2 for C2 motor drive
67
C2 1
ATMEGA2560 PA6
Logic input 1 for C2 motor drive
68
C2 PWM
ATMEGA2560 OC3A
PWM input for C2 motor drive
69
IR Proximity Sensor 6
ATMEGA8 ADC5
Analog output of IR Proximity sensor 6
70
IR Proximity Sensor 7
ATMEGA8 ADC6
Analog output of IR Proximity sensor 7
71
BUZZER
ATMEGA2560 PC3
Input, V>0.65V turns on the Buzzer
72
DAC OUT
Not connected
Not connected
73
RS232 TXD
UART1(RXD) of
ATMEGA2560 via
MAX202, TTL to RS232
Converter
RS232 Transmit, connected to DB9 serial
connector on main board.
74
RS232 RXD
UART1(TXD) of
ATMEGA2560 via
MAX202, TTL to RS232
Converter
RS232 Receive, connected to DB9 serial
connector on main board.
Table 4.4: ATMEGA2560 Microcontroller adapter board socket connections with the main
board
Note:
* CS will give output only if ACS712 hall effect current sensor is soldered on the main board
** refer errata section of this manual
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA 87