ARDUINO pin mapping on FBV 2560

DC MOTOR
Used for FBV PORTS μC 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 μC pin Arduino pin
Buzzer PC3 56 Digital pin 34
Sensor Switching
Used for FBV PORTS μC pin Arduino pin
Red LEDs of white line sensor enable/disable. PG2 70 Digital pin 39
*******
Turns off these sensors when output is logic 1
Sharp IR ranges sensor 1and 5 enable / disable. PH2 14 TX3
Turns off these sensors when output is logic 1
*******
IR proximity sensors 1 to 8 enable / disable. PH3 15 Digital pin 6(PWM)
Turns off these sensors when output is logic 1 (RX3)
*******

External Interrupts for Position Encoder

Used for FBV PORTS μC pin Arduino pin
External Interrupt for the left motor’s position PE4 6 Digital pin
encoder 2(PWM)/INT0
External Interrupt for the right motor’s position PE5 7 Digital pin
encoder 3(PWM)/INT1
PWM for Servo motor
Used for FBV PORTS μC 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 μC 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 μC pin Arduino pin
LED Bar Graph and GPIO* PJ0 63 Digital pin 15
(Available on expansion slot of the microcontroller PJ1 64 Digital pin 14
socket) PJ2 65
PJ3 66
NC
PJ4 67 NC
PJ5 68 NC
PJ6 69 NC
UART
Used for FBV PORTS μC pin Arduino pin
UART 0 receive for XBee wireless module RXD0/PE0 2 Digital pin 0 (PWM)
(if installed) (RX0)
UART 0 transmit for XBee wireless module TXD0/PE1 3 Digital pin 1 (PWM)
(if installed) (TX0)
External Interrupt
Used for FBV PORTS μC pin Arduino pin
I2C bus / GPIOs (Available on expansion slot of the SCL/INT0/PD0 43 INT2
microcontroller socket) SDA/INT1/PD1 44 INT3
UART1 receive for RS232 serial communication RXD1/PD2 45 INT4
UART1 transmit for RS232 serial communication TXD1/PD3 46 INT5
* 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.

******* Sensor’s 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.