Pioneer 2TM - Manual (Page 73)

ActivMedia Robotics
Lift direction Inner breakbeam IR
9 ID4 DIGIN bit 4;
Left paddle contact
10 OD4 DIGOUT bit 4;
Automated
docking/charging
“inhibit”
11 ID5 DIGIN bit 5;
Right paddle
contact
12 OD5 DIGOUT bit 5;
Automated
docking/charging
“deploy”
13 ID6 DIGIN bit 6;
Automated
docking/charging
”power good”
14 OD6 DIGOUT bit 6;
User only
15 ID7 DIGIN bit 7;
Automated
docking/charging
”overcharge”
16 OD7 DIGOUT bit 7;
User only
17 *AN0 A/D port 0
(default)
(0-5VDC = 0-255)
18 Vcc 5VDC < 1A
19 Vpp Battery 12VDC < 1A 20 Gnd Signal/power common
The Expansion I/O Bus
A 40-pin high-density IDC socket on the H8S microcontroller provides a general-
purpose connector for future I/O expansion. Digital lines, including 8-bit bus
address, data, read/write, and other general-purpose ones, are buffered with inputs
pulled high. Indicated ports (*) appear on other connectors.
Table 23. General-purpose I/O and data bus (40-pos high-density IDC)
PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION
1 AD0 Address bit 0 2 D7 Data bit 7
3 AD1 Address bit 1 4 D6 Data bit 6
5 AD2 Address bit 2 6 D5 Data bit 5
7 AD3 Address bit 3 8 D4 Data bit 4
9 AD4 Address bit 4 10 D3 Data bit 3
11 AD5 Address bit 5 12 D2 Data bit 2
13 ID6 Address bit 6 14 D1 Data bit 1
15 ID7 Address bit 7 16 D0 Data bit 0
17 AN6 A/D port 6;
gyro temp
18 CS4 Chip select 4
19 AN5 A/D port 5;
gyro rate
20 CS3 Chip select 3
21 *AN4 A/D port 4;
Joystick Y
22 CS2 Chip select 2
23 *AN3 A/D port 3;
Joystick X
24 WR Data write
25 AN2 A/D port 2 26 RD Data read
27 AN1 A/D port 1 28 CS6 Chip select 6 or digital I/O
29 *AN0 A/D port 0 30 CS7 Chip select 6 or digital I/O
31 GND Signal common 32 RST Controller reset
33 GND Signal common 34 P1.1 Digital I/O
35 GND Signal common 36 Vcc Controller 5VDC (<200ma)
37 GND Signal common 38 Vcc Controller 5VDC (<200ma)
39 GND Signal common 40 Vpp Battery 12VDC (<0.5A)
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