Changed the processor to Pololu Orangutan SVP

*** PIN OUTS DEFINED

For the Orangutan SVP from http://www.pololu.com

Port Pin Orangutan (Alternate Functions) Function Notes

• PA0 (ADC0) IR Analogue Distance Sensor GP2Y0A02YK0F (20cm-150cm) to ~2.8V – ORANGE
• PA1 (ADC1) IR Analogue Distance Sensor GP2Y0A21YK0F (10-80cm) to ~2.8V – WHITE
• PA2 (ADC2) LISY GIRO Z Axis Analogue Sensor to 3.3V – PURPLE
• PA3 (ADC3) MMA7260QT Three Axis Accelerometer – X Axis Analogue to 3.3V – YELLOW
• PA4 (ADC4) MMA7260QT Three Axis Accelerometer – Y Axis Analogue to 3.3V – BROWN
• PA5 (ADC5) MMA7260QT Three Axis Accelerometer – Z Axis Analogue to 3.3V – GREEN
• PA6 (ADC6) Motor1 Current sense – WHITE
• PA7 (ADC7) Motor2 Current sense – WHITE

• PB0 (T0) LCD control line RS Timer/Counter 0
• PB1 (T1, CLKO) LCD control line R/W
• PB2 (AIN0, INT2) LCD control line E
• PB3 (AIN1, OC0A) Timer0 PWM output A? PIR (Digital LOW) – YELLOW (& RED & GREY)
• PB4 (SPI_SS, OC0B *) Timer0 PWM output B
• PB5 (SPI_MOSI) auxiliary processor control
• PB6 (SPI_MISO) auxiliary processor control
• PB7 (SPI_SCK)? auxiliary processor control

• PC0 (I2C_SCL) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – BROWN
• PC1 (I2C_SDA) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – ORANGE
• PC2 LCD data line DB4 – user pushbutton (pressing pulls low)
• PC3 LCD data line DB5 – user pushbutton (pressing pulls low)
• PC4 LCD data line DB6 – green user LED (high turns LED on)
• PC5 LCD data line DB7 – user pushbutton (pressing pulls low)
• PC6 Motor2 direction control line – LEFT MOTOR
• PC7 Motor1 direction control line – RIGHT MOTOR

• PD0 (USART0_RXD0)
• PD1 (USART0_TXD0) digital I/O red user LED (low turns LED on)
• PD2 (USART1_RXD1, INT0)
• PD3 (USART1_TXD1, INT1)
• PD4 (OC1B) Timer1 PWM output B – Buzzer
• PD5 (OC1A) Timer1 PWM output A – I/O servo SPWM? – Neck Servo
• PD6 (OC2B) Timer2 PWM output B – Motor2 speed control line
• PD7 (OC2A) Timer2 PWM output A – Motor1 speed control line

• AREF VCC 3.3V Battery Supply

IN PHYSICAL ORDER

TOP RIGHT TO LEFT

• PD5 (OC1A) Timer1 PWM output A – I/O servo SPWM – Neck Servo
• Quadrature Sensor D – YELLOW (LEFT 2nd)
• Quadrature Sensor C – WHITE (LEFT 1st)
• Quadrature Sensor B – BLUE (RIGHT 2nd)
• Quadrature Sensor A – BROWN (RIGHT 1st)
• GND

BOTTOM RIGHT TO LEFT

• VIN
• GND
• M1 OUT B – PURPLE (RIGHT)
• M1 OUT A – GREY (RIGHT)
• M2 OUT B – ORANGE (LEFT)
• M2 OUT A – GREEN (LEFT)=

• PD3 (USART1_TXD1, INT1)
• PD2 (USART1_RXD1, INT0)
• PD1 (USART0_TXD0) digital I/O red user LED (low turns LED on) blank
• PD0 (USART0_RXD0) blank – reserved

• PC1 (I2C_SDA) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – ORANGE
• PC0 (I2C_SCL) Ultrasonic Ranger SRF10 Addr 0xE0 & Thermopile Addr 0xD2 – BROWN
• PB4 (SPI_SS, OC0B *) Timer0 PWM output B
• PB3 (AIN1, OC0A)???? Timer0 PWM output A PIR (Digital LOW) – YELLOW (& RED & GREY)

• PA0 (ADC0) IR Analogue Distance Sensor GP2Y0A02YK0F (20cm-150cm) to ~2.8V – ORANGE
• PA1 (ADC1) IR Analogue Distance Sensor GP2Y0A21YK0F (10-80cm) to ~2.8V – WHITE
• PA2 (ADC2) LISY GIRO Z Axis Analogue Sensor to 3.3V – PURPLE
• PA3 (ADC3) MMA7260QT Three Axis Accelerometer – X Axis Analogue Sensor to 3.3V – YELLOW

• PA4 (ADC4) MMA7260QT Three Axis Accelerometer – Y Axis Analogue Sensor to 3.3V – BROWN
• PA5 (ADC5) MMA7260QT Three Axis Accelerometer – Z Axis Analogue Sensor to 3.3V – GREEN
• PA6 (ADC6) Motor1 Current sense – WHITE – RIGHT MOTOR
• PA7 (ADC7) Motor2 Current sense – WHITE – LEFT MOTOR

• AREF VCC 3.3V Battery Supply (to centre board) – BLUE