NEX ROBOTICS FIREBIRD V ATMEGA 2560, Руководство по оборудованию

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Fire Bird V ATMEGA2560 Hardware Manual
72 PA6 C2-1 Logic input 1 for C2 motor drive Output
73 PA5 C1-2 Logic input 2 for C1 motor drive Output
74 PA4 C1-1 Logic input 1 for C1 motor drive Output
75 PA3 Logic input 1 for Right motor (Right back) Output
76 PA2 Logic input 2 for Right motor (Right forward) Output
77 PA1 Logic input 2 for Left motor (Left forward) Output
78 PA0 Logic input 1 for Left motor (Left back) Output
79 PJ7
LED Bar Graph and GPIO* (Available on expansion slot of
the microcontroller socket)
80 VCC 5V
81 GND Ground
82 PK7/ADC15/PCINT23 ADC Input For Servo Pod 2
Input
(Floating)
83 PK6/ADC14/PCINT22 ADC Input For Servo Pod 1
Input
(Floating)
84 PK5/ADC13/PCINT21 ADC input for Sharp IR range sensor 5
Input
(Floating)
85 PK4/ADC12/PCINT20 ADC input for Sharp IR range sensor 4
Input
(Floating)
86 PK3/ADC11/PCINT19 ADC input for Sharp IR range sensor 3
Input
(Floating)
87 PK2/ADC10/PCINT18 ADC input for Sharp IR range sensor 2
Input
(Floating)
88 PK1/ADC9/PCINT17 ADC input for Sharp IR range sensor 1
Input
(Floating)
89 PK0/ADC8/PCINT16 ADC input for IR proximity analog sensor 5
Input
(Floating)
90 PF7(ADC7/TDI) ADC input for IR proximity analog sensor 4*****
Input
(Floating)
91 PF6/(ADC6/TD0) ADC input for IR proximity analog sensor 3*****
Input
(Floating)
92 PF5(ADC5/TMS) ADC input for IR proximity analog sensor 2*****
Input
(Floating)
93 PF4/ADC4/TCK ADC input for IR proximity analog sensor 1*****
Input
(Floating)
94 PF3/ADC3 ADC input for white line sensor 1
Input
(Floating)
95 PF2/ADC2 ADC input for white line sensor 2
Input
(Floating)
96 PF1/ADC1 ADC input for white line sensor 3
Input
(Floating)
97 PF0/ADC0 ADC input for battery voltage monitoring
Input
(Floating)
98 AREF ADC reference voltage pin (5V external) ******
99 GND Ground
100 AVCC 5V
Table 4.1: ATMEGA2560 microcontroller pin connections
* Not used pins are by default initialized to input and kept floating. These pins are available on
the expansion slot of the ATMEGA2560 microcontroller adapter board. Some pins are especially
reserved for servo motor interfacing for the Fire Bird V Hexapod robot.
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA 80