NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 33

Figure 3.23: Motion status LED indication in terms of microcontroller adapter socket pin
"5V system supply" is used for driving L293Ds logic circuits. "V Batt Mot" is used to supply
power to the motors. C22 – C25 and C29 – C32 is used for noise suppression. Logic signals to
drive the two L293D comes from the pins 47 to 55 and pins 66 to 68 of the microcontroller
adapter board socket. Logic level on the pins 47 to 55 are also connected to the motion LEDs the
main board as shown above.
uC PIN Pin name
NO
5 OC3A/AIN1/PE3
38 OC5A/PL3
39 OC5B/PL4
40 OC5C/PL5
71 PA7 C2-2
72 PA6 C2-1
73 PA5 C1-2
74 PA4 C1-1
75 PA3
76 PA2
77 PA1
78 PA0
Table 3.7: Connections of the motor driver with the ATMEGA2560 microcontroller
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
number
USED FOR
PWM output for C2 motor drive
PWM for left motor.
PWM for right motor.
PWM for C1 motor.
Logic input 2 for C2 motor drive
Logic input 1 for C2 motor drive
Logic input 2 for C1 motor drive
Logic input 1 for C1 motor drive
Logic input 1 for Right motor (Right back)
Logic input 2 for Right motor (Right
forward)
Logic input 2 for Left motor (Left
forward)
Logic input 1 for Left motor (Left back)
Fire Bird V ATMEGA2560 Hardware Manual
Status
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Main Board
Pin No.
68
50
54
48
66
67
49
47
53
55
52
51
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