NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 36

Position encoder output is displayed on the microcontroller socket board. Figure 3.27 shows
location of the position encoder LEDs
Figure 3.27: Position encoder pulse LEDs on ATMEGA2560 microcontroller adapter
uC PIN Pin name
NO
6 OC3B/INT4/PE4
7 OC3C/INT5/PE5
8 T3/INT6/PE6
CLK0/ICP3/INT7
9
/ PE7
Table 3.8: Pin Connection of the position encoder's outputs
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
Figure 3.26: Position encoder assembly
board
USED FOR
External Interrupt for the left motor's position encoder
External Interrupt for the right motor's position encoder
External Interrupt for the C2 motor's position encoder
External Interrupt for Interrupt switch on the
microcontroller board, External Interrupt for the C1
motor's position encoder *
Fire Bird V ATMEGA2560 Hardware Manual
Status Main Board
Pin No.
Input 62
Input 63
Input 64
Input 65
36