ARDUINO pin mapping on FBV 2560
DC MOTOR
Used for FBV
PORTS
C pin
Arduino pin
Logic input 1 for C1 motor drive
PA4
74
Digital pin 26
Logic input 2 for C1 motor drive
PA5
73
Digital pin 27
Logic input 1 for C2 motor drive
PA6
72
Digital pin 28
Logic input 2 for C2 motor drive
PA7
71
Digital pin 29
Logic input 1 for Right motor (Right back)
PA3
75
Digital pin 25
Logic input 2 for Right motor (Right forward)
PA2
76
Digital pin 24
Logic input 2 for Left motor (Left forward)
PA1
77
Digital pin 23
Logic input 1 for Left motor (Left back)
PA0
78
Digital pin 22
PWM for left motor.
PL3
38
Digital pin 46(PWM)
PWM for right motor.
PL4
39
Digital pin 45(PWM)
Buzzer
Used for FBV
PORTS
C pin
Arduino pin
Buzzer
PC3
56
Digital pin 34
Sensor Switching
Used for FBV
PORTS
C pin
Arduino pin
Red LEDs of white line sensor enable/disable.
*******
Turns off these sensors when output is logic 1
PG2
70
Digital pin 39
Sharp IR ranges sensor 1and 5 enable / disable.
Turns off these sensors when output is logic 1
*******
PH2
14
TX3
IR proximity sensors 1 to 8 enable / disable.
Turns off these sensors when output is logic 1
*******
PH3
15
Digital pin 6(PWM)
(RX3)
External Interrupts for Position Encoder
Used for FBV
PORTS
C pin
Arduino pin
External Interrupt for the left motors position
encoder
PE4
Digital pin
2(PWM)/INT0
External Interrupt for the right motors position
encoder
PE5
Digital pin
3(PWM)/INT1
PWM for Servo motor
Used for FBV
PORTS
C pin
Arduino pin
PWM for Servo motor 1. ***
PB5
24
Digital pin 11(PWM)
PWM for Servo motor 2. ***
PB6
25
Digital pin 12(PWM)
PWM for Servo motor 3. ***
PB7
26
Digital pin 13(PWM)
ADC pins for All Sensor
Used for FBV
PORTS
C pin
Arduino pin
ADC reference voltage pin (5V external) ******
AREF
98
Analog Reference
ADC input for battery voltage monitoring
PF0/ADC0
97
Analog pin 0
ADC input for white line sensor 3
PF1/ADC1
96
Analog pin 1
ADC input for white line sensor 2
PF2/ADC2
95
Analog pin 2
ADC input for white line sensor 1
PF3/ADC3
94
Analog pin 3
ADC input for IR proximity analog sensor 1*****
PF4/ADC4
93
Analog pin 4
ADC input for IR proximity analog sensor 2*****
PF5/ADC5
92
Analog pin 5
ADC input for IR proximity analog sensor 3*****
PF6/ADC6
91
Analog pin 6
ADC input for IR proximity analog sensor 4*****
PF7/ADC7
90
Analog pin 7
ADC input for IR proximity analog sensor 5
PK0/ADC8
89
Analog pin 8
ADC input for Sharp IR range sensor 1
PK1/ADC9
88
Analog pin 9
ADC input for Sharp IR range sensor 2
PK2/ADC10
87
Analog pin 10
ADC input for Sharp IR range sensor 3
PK3/ADC11
86
Analog pin 11
ADC input for Sharp IR range sensor 4
PK4/ADC12
85
Analog pin 12
ADC input for Sharp IR range sensor 5
PK5/ADC13
84
Analog pin 13
ADC Input For Servo Pod 1
PK6/ADC14
83
Analog pin 14
ADC Input For Servo Pod 2
PK7/ADC15
82
Analog pin 15
Bar Graph
Used for FBV
PORTS
C pin
Arduino pin
LED Bar Graph and GPIO*
(Available on expansion slot of the microcontroller
socket)
PJ0
PJ1
PJ2
PJ3
PJ4
PJ5
PJ6
63
64
65
66
67
68
69
Digital pin 15
Digital pin 14
NC
NC
NC
NC
UART
Used for FBV
PORTS
C pin
Arduino pin
UART 0 receive for XBee wireless module
(if installed)
RXD0/PE0
Digital pin 0 (PWM)
(RX0)
UART 0 transmit for XBee wireless module
(if installed)
TXD0/PE1
Digital pin 1 (PWM)
(TX0)
C pin
Arduino pin
I2C bus / GPIOs (Available on expansion slot of the SCL/INT0/PD0
microcontroller socket)
SDA/INT1/PD1
43
44
INT2
INT3
UART1 receive for RS232 serial communication
RXD1/PD2
45
INT4
UART1 transmit for RS232 serial communication
TXD1/PD3
46
INT5
External Interrupt
Used for FBV
PORTS
* Not used pins are by default initialized to input and kept floating. These pins are available on
the expansion slot of the ATMEGA2560 microcontroller adapter board. Some pins are especially
reserved for servo motor interfacing for the Fire Bird V Hexapod robot.
*** 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 adapter board.
***** 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. from Fire Bird V ATMEGA2560
Hardware Manual.
******* Sensors switching can be controlled only is if corresponding jumpers are open. For
more details refer to section 3.11 and 3.12. from Fire Bird V ATMEGA2560 Hardware Manual.
