NEX ROBOTICS Fire Bird V ATMEGA2560 HEXAPOD User Manual page 23

41 PL6
42 PL7
43 SCL/INT0/PD0
44 SDA/INT1/PD1
45 RXD1/INT2/PD2
46 TXD1/INT3/PD3
47 ICP1/PD4
48 XCK1/PD5
49 T1/PD6
50 T0/PD7
51 PG0/WR
52 PG1/RD
53 PC0
54 PC1
55 PC2
56 PC3
57 PC4
58 PC5
59 PC6
60 PC7
61 VCC
62 GND
63 PJ0/RXD3/PCINT9
64 PJ1/TXD3/PCINT10
65 PJ2/XCK3/PCINT11
66 PJ3/PCINT12
67 PJ4/PCINT13
68 PJ5/PCINT14
69 PJ6/PCINT15
70 PG2/ALE
71 PA7 C2-2
72 PA6 C2-1
73 PA5 C1-2
74 PA4 C1-1
75 PA3
76 PA2
77 PA1
78 PA0
79 PJ7
80 VCC
81 GND
82 PK7/ADC15/PCINT23
83 PK6/ADC14/PCINT22
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
Fire Bird V ATMEGA2560 Hexapod Robot User Guide
Servo 2A
Servo 2C
Relay ON/OFF
Available on expansion slot of the microcontroller socket
UART1 receive for RS232 serial communication
UART1 transmit for RS232 serial communication
Servo 2B
Servo 1A
Servo 4C
Servo 4B
Servo 4A
Servo 1C
LCD control line RS (Register Select)
LCD control line RW(Read/Write Select)
LCD control line EN(Enable Signal)
Buzzer
LCD data lines (4-bit mode)
5V
Ground
LED bargraph display and GPIO*
Servo 6B
Servo 6C
Servo 6A
Servo 5C
Servo 5A
Servo 5B
Sharp IR ranges sensor 2, 3, 4 and red LEDs of white line
sensor 1, 2, 3 disable. *******
Turns off these sensors when output is logic 1
Right side spare servo
5V
Ground
ADC Input For Servo Pod 2
ADC Input For Servo Pod 1
---
---
---
--
---
---
---
---
Output
Output
Output
unused
Default
Default
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output
Output(unused)
---
---
---
--
---
---
---
---
--
--
--
Input (unused)
Input (unused)
23