NEX ROBOTICS Fire Bird V ATMEGA2560 HEXAPOD User Manual page 24

84 PK5/ADC13/PCINT21
85 PK4/ADC12/PCINT20
86 PK3/ADC11/PCINT19
87 PK2/ADC10/PCINT18
88 PK1/ADC9/PCINT17
89 PK0/ADC8/PCINT16
90 PF7(ADC7/TDI)
91 PF6/(ADC6/TD0)
92 PF5(ADC5/TMS)
93 PF4/ADC4/TCK
94 PF3/ADC3
95 PF2/ADC2
96 PF1/ADC1
97 PF0/ADC0
98 AREF
99 GND
100 AVCC
Table 5.1 ATMEGA2560 pin functionality in Fire Bird V Hexapod
* 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.
** 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. Refer to
section 2.6 for more details from ATMEGA2560 software manual.
*** PORTB pin5, 6, 7 are OC1A, OC1B, OC1C of the Timer1, that 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
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). Refer section 3.19.9 for more details from Fire Bird V TAMEGA2560
Hardware manual.
******* Sensor's switching can be controlled only is if corresponding jumpers are open. Refer
to section 3.11 and 3.12 from the hardware manual for more details.
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.
© NEX Robotics Pvt. Ltd. and ERTS Lab IIT Bombay, INDIA
Fire Bird V ATMEGA2560 Hexapod Robot User Guide
ADC input for Sharp IR range sensor 5
ADC input for Sharp IR range sensor 4
ADC input for Sharp IR range sensor 3
ADC input for Sharp IR range sensor 2
ADC input for Sharp IR range sensor 1
ADC input for IR proximity analog sensor 5
ADC input for IR proximity analog sensor 4*****
ADC input for IR proximity analog sensor 3*****
ADC input for current sense voltage *****
ADC input for IR proximity analog sensor 1*****
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ADC input for battery voltage monitoring
ADC reference voltage pin (5V external) ******
Ground
5V
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (Floating)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
Input (unused)
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