NEX ROBOTICS SPARK V ATMEGA16 Hardware Manual page 86

38 PA2(ADC2)
39 PA1(ADC1)
40 PA0(ADC0)
Table 5.1: ATMEGA16 microcontroller pin configuration
* UART can be connected between FT232 USB to Serial converter or XBee wireless module
using jumper J5.
** Output of the Left position encoder and TSOP1738 IR receiver are open collector and both
share the same 10K ohm pull-up resistor.
*** Ultrasonic sensors are connected in daisy chain for trigger synchronizing. For more details
refer to chapter 3.
**** AREF can be obtained from the 5V microcontroller
***** All the ADC pins must be configured as input and floating
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
ADC input for right side analog IR proximity sensor or
ultrasonic range sensor
ADC input for center side analog IR proximity sensor or
ultrasonic range sensor
ADC input for left side analog IR proximity sensor or
ultrasonic range sensor
SPARK V ATMEGA16 Hardware Manual
Input*****
Input*****
Input*****
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