Files

README.md

C PORT pinout:

PORT Function Code Pin
PB - - -
PB0 empty - 8
PB1 ICSP - SCK - 9
PB2 ICSP - MOSI - 10
PB3 ICSP - MISO - 11
PB4 Motor A control Ma2 28
PB5 Motor A control Ma1 29
PB6 Motor B Control Mb1 30
PB7 empty - 12
PC - - -
PC6 Motor B Control Mb2 31
PC7 Motor B PWM MbPWM 32
PD - - -
PD0 Right A floor sensor FaR 18
PD1 Left A floor sensor FaL 19
PD2 Left B floor sensor FbL 20
PD3 Right B floor sensor FbR 21
PD4 Center B distans sensor IRb 25
PD5 Right B distans sensor IRbR 22
PD6 Left B distans sensor IRbL 16
PD7 Motor A PWM MaPWM 27
PF - - -
PF0 Button 2 but3 41
PF1 Button 3 but2 40
PF4 Button 4 but1 39
PF5 Right A distans sensor IRaR 38
PF6 Center A distans sensor IRa 37

| PF7 | Left A distans sensor | IRaL | 36 |

Arduino Leonardo pinout:

Arduino Function Code Pin
digital pin 0 floor sensor FbL 20
digital pin 1 floor sensor FbR 21
digital pin 2 floor sensor FaL 19
digital pin 3 floor sensor FaR 18
digital pin 4 distans sensor IRb 25
digital pin 5 motor control Mb2 31
digital pin 6 motor PWM MaPWM 27
digital pin 7 built in LED builtLed1 1
digital pin 8 motor control Ma2 28
digital pin 9 motor control Ma1 29
digital pin 10 motor control Mb1 30
digital pin 11 unplugged --- 12
digital pin 12 distans sensor IRbL 26
analog 0 distans sensor IRaL 32
analog 1 distans sensor IRa 33
analog 2 distans sensor IRaR 34
analog 3 button but1 35
analog 4 button but2 36
analog 5 button but3 37
txLED distans sensor IRbR 22

| HWB | built in LED |builtLed2| 33 |

Code definitions:

Group Code Definition
Floor Sensors FbL -
. FbR -
. FaL -
. FaR -
. . -
Distans Senstors IRaL -
. IRa -
. IRaR -
. IRbL -
. IRb -
. IRBR -
. . -
Motors Control Ma1 -
. Ma2 -
. MaPWM -
. Mb1 -
. Mb2 -
. MbPWM -
. . -
Output builtLed1 -

| . |builtLed2 | - |

Pinout Atmega32u4:

Pin Arduino Function Code C Port
1 digital pin 7 built in LED builtLed1 PE6
2 VCC voltage supply HIGH -
3 D- USB data --- -
4 D+ USB data --- -
5 GND ground LOW -
6 Cap USB capacotor --- -
7 VCC voltage supply HIGH -
8 rxLed empty 1\0 pin --- PB0
9 SCK ICSP SCK PB1
10 MOSI ICSP MOSI PB2
11 MISO ICSP MISO PB3
12 digital pin 11 unplugged --- PB7
13 RST reset RST -
14 VCC voltage supply HIGH -
15 GND ground LOW -
16 XTAL1 oscilator --- -
17 XTAL2 oscilator --- -
18 digital pin 3 floor sensor FaR PD0
19 digital pin 2 floor sensor FaL PD1
20 digital pin 0 floor sensor FbL PD2
21 digital pin 1 floor sensor FbR PD3
22 txLED distans sensor IRbR PD5
23 GND ground LOW -
24 VCC voltage supply HIGH -
25 digital pin 4 distans sensor IRb PD4
26 digital pin 12 distans sensor IRbL PD6
27 digital pin 6 motor PWM MaPWM PD7
28 digital pin 8 motor control Ma2 PB4
29 digital pin 9 motor control Ma1 PB5
30 digital pin 10 motor control Mb1 PB6
31 digital pin 5 motor control Mb2 PC6
32 digital pin 13 distans sensor MbPWM PC7
33 HWB built in LED builtLed2 PE2
34 VCC voltage supply HIGH -
35 GND ground LOW -
36 analog 0 distans sensor IRaL PF7
37 analog 1 distans sensor IRa PF6
38 analog 2 distans sensor IRaR PF5
39 analog 3 button but1 PF4
40 analog 4 button but2 PF1
41 analog 5 button but3 PF0
42 VCC voltage supply HIGH -
43 GND ground LOW -

| 44 | VCC | voltage supply | HIGH | - |

program0 ---------------------------------- empty program1 ---------------------------------- empty program2 ---------------------------------- spinner program3 ---------------------------------- basic program4 ---------------------------------- waiter program5 ---------------------------------- program6 ---------------------------------- basic without floorSensors program7 ---------------------------------- wheels cleaner

Annotations

There are no annotations yet
Report a bug