Pioneer 2 - Manual (Page 56)

Appendix A: Microcontroller Ports and Connections
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Note that the general-purpose I/O and analog-to-digital ports are shared with the onboard bus (below)
and four-motors (Appendix B) circuitry, respectively, and may not be available for use on all robots.
In particular, lines P2_3-6 are for controlling the additional two motors in the Pioneer AT. The analog lines
P5_4-7, although not used by any Pioneer 2 configuration, are connected to and may be used for additional
encoders in four-wheel drive Pioneer 2s. The digital I/O lines P3_0-7 are included in the I/O bus.
In addition, four of the A/D ports and the PWM ports are shared with digital input and output lines,
respectively.
Table A-4. User I/O Expansion Port
Pin # Label Use Pin
#
Label Use
1 P2_12 OD0 or
PWM #1
2 P3_0 ID0
3 P2_13 OD1 or
PWM #2
4 P3_1 ID1
5 P2_14 OD2 or
PWM #3
6 P3_2 ID2
7 P2_15 OD3 or
PWM #4
8 P3_3 ID3
9 P5_4 ID4 or
A/D #1
10 P3_4 OD4
11 P5_5 ID5 or
A/D #2
12 P3_5 OD5
13 P5_6 ID6 or
A/D #3
14 P3_6 OD6
15 P5_7 ID7 or
A/D #4
16 P3_7 OD7
17 P5_9 A/D #0/5 18 Vcc <100ma
19 Vpp <100ma 20 Gnd
The General I/O Bus
The 34-pin IDC socket on the Pioneer 2 provides a general-purpose I/O bus (Table A-5), containing:
Ÿ 8 read/write data lines (D0-7)
Ÿ 4 chip select lines (CS_2-5)
Ÿ 2 address lines (A0, A1)
Ÿ Read (RD#) and write (WR) lines
Ÿ 8 general-purpose digital I/O (P3_0-7)
Ÿ 5 analog-to-digital input (A/D) (P5_4-7,9)
Ÿ 2 signal ground (Gnd)
Ÿ 2 Vcc (+5 VDC)
Ÿ 1 Vpp (+12 VDC)