Pioneer 2TM - Manual (Page 74)

Appendix A: Ports and Connections
Table 24. Bumper ports (10-pos latching IDC)
PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION
1 BP0 Bumper bit 0 2 BP1 Bumper bit 1
3 BP2 Bumper bit 2 4 BP3 Bumper bit 3
5 BP4 Bumper bit 4 6 BP5 Bumper bit 5
7 BP6 Bumper bit 6 8 BP7 Bumper bit 7
9 Gnd Common 10 Gnd Common
Bumper Ports
Two 10-position latching IDC connectors provide general-purpose digital inputs, typically
used for the robot’s bumpers. All inputs are buffered and pulled high (digital 1).
Motors, Encoders, and IR Sensors
A 26-position latching IDC connector on the H8S microcontroller provides interface
through an intermediate board to the Motor-Power Board (Appendix B). Line
descriptions also can be found in the following Motor-Power Interface section.
Table 25. Motors, encoders, and IRs interface (26-pos latching IDC)
PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION
1 LPWM Left motors PWM 2 LDIR Left motors direction
3 RPWM Right motors PWM 4 RDIR Right motors direction
5 MEN Motors enable 6 LEA Left encoder channel A
7 E-STOP E-Stop detect input 8 REA Right encoder channel A
9 RPWR Radio power enable 10 REB Right encoder channel B
11 APWR Aux power enable 12 LEB Left encoder channel B
13 CHRG Charge port detect 14 IR6 IR input bit 6
15 IR7 IR input bit 7 16 IR4 IR input bit 4
17 IR5 IR input bit 5 18 IR2 IR input bit 2
19 IR3 IR input bit 3 20 IR0 IR input bit 0
21 IR1 IR input bit 1 22 VBAT Battery voltage detect
23 Gnd Signal common 24 AN1* Analog input
25 Gnd Signal common 26 AN2* Analog input
* Board versions C and earlier pin 24 HOST RI and pin 26 ground.
User Control Interface
A 16-position latching IDC connector provides interface with the User Control Panel
board and functions. See description in a following section.
Table 26. User Control Panel interface
PIN SIGNAL DESCRIPTION PIN SIGNAL DESCRIPTION
1 Vcc 5 VDC power 2 Vcc 5 VDC power
3 RST RESET button 4 MOT MOTORS button
5 RPWR Radio power switch 6 APWR Aux power switch
7 CHRG Charging indicator 8 BZR Buzzer PWM
9 PLED Main power 10 SLED Status
11 Vpp Battery 12 VDC 12 Gnd Signal/power common
13 Gnd Signal/power common 14 HTXD HOST serial transmit
15 HDSR HOST serial enabled 16 HRCV HOST serial receive
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