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.