The General I/O Bus - Pioneer 2 / PeopleBot Operation Manual

Appendix A: Microcontroller Ports and Connections
Table 21. Performance PeopleBot I/O
User
I/O
Pin #
1
3
5
7
9
11
13
15
17
19
― = Not used; available for other User applications

The General I/O Bus

The 34-pin IDC socket on the P2OS microcontroller provides a general-purpose I/O bus
containing:
! 8 read/write data lines (D0-7)
! 4 chip select lines (CS_2-5)
! 2 address lines (A0, A1)
! Read (RD#) and write (WR) lines
! 8 general-purpose digital I/O (P3_0-7)
! 1 analog-to-digital input (A/D) (P5_9)
! 4 PWM/digital output (P2_12-15)
! 2 signal ground (Gnd)
! 2 Vcc (+5 VDC)
! 1 Vpp (+12 VDC)
Table 22. General I/O Bus Connections
Pin #
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
62
Label Use
―
OD0
―
OD1
―
OD2
―
OD3
ID4 Joystick
ID5 Joystick
ID6 Joystick
ID7 E-Stop
―
AD1
Vpp +12VDC
Label Pin
#
2
P3_0
P3_1 4
P3_2 6
8
P3_3
P3_4 10
P3_5 12
14
P3_6
P3_7 16
18
WR
Vpp 20
P2_12 22
24
P2_13
P2_14 26
28
P2_15
P5_9 30
Gnd 32
34
Gnd
User Label
I/O
Pin #
2
ID0 Lft Tabletop
4
ID1 Rgt Tabletop
6
ID2 Lft Breakbeam
8
ID3 Rgt Breakbeam
10
OD4
12
OD5
14
OD6
16
OD7
18
Vcc +5VDC
20
Gnd
Label
D0
D1
D2
D3
D4
D5
D6
D7
CS2
CS3
(Bumpers)
CS4
CS5
A0
A1
Vcc
RD#
Vcc
―
―
―
-―
Gnd