NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 87

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