NEX ROBOTICS Fire Bird V ATMEGA2560 Software Manual page 52

NEX Robotics
95 PF2/ADC2
96 PF1/ADC1
97 PF0/ADC0
98 AREF
99 GND
100 AVCC
Table 3.5: 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 adaptor board. Some pins are especially
reserved for servo motor interfacing for the Fire Bird V Hexapod robot.
** MOSI, MISO, SCK and SS pins of ATMEGA2560 are associated to the ISP (In System
programming) port as well as the SPI interface to ATMEGA8. J4 needs to be disconnected
before doing ISP. To communicate with ATMEGA8 jumper J4 needs to be in place. For more
details refer to section 3.19.6.
*** PORTB pin5, 6, 7 are OC1A, OC1B, OC1C of the Timer1. These pins are connected to the
servo motor sockets S1, S2, S3 on the microcontroller adaptor board.
**** External Crystal of 32 KHz is connected to the pins PG3 and PG4 to generate clock for
RTC (Real Time Clock).
***** For using Analog IR proximity (1, 2, 3 and 4) sensors short the jumper J2. To use JTAG
or interface external analog sensors via expansion slot of the microcontroller socket remove
these jumpers.
****** AREF can be obtained from the 5V microcontroller or 5V analog reference generator IC
REF5050 (optional). For more details refer to section 3.19.9.
******* Sensor's switching can be controlled only is if corresponding jumpers are open. For
more details refer to section 3.11 and 3.12.
J2: Sharp IR range sensor 2, 3, 4 and red LEDs of white line sensors;
J3: Sharp IR range sensor 1, 5;
J4: IR proximity sensors 1 to 8;
******** External interrupt from the position encoder C1 is disabled by removing pin 2 of the
CD40106 Schmitt trigger inverter buffer to avoid its wire anding with the interrupt switch.
www.nex-robotics.com
ADC input for white line sensor 2
ADC input for white line sensor 3
ADC input for battery voltage monitoring
ADC reference voltage pin (5V external) ******
Ground
5V
Fire Bird V Software Manual
(Floating)
Input
(Floating)
Input
(Floating)
Input
(Floating)
52