Pioneer Mobile Robots
51
Table A-5. General I/O Bus Connections
Pin #
Label
Pin #
Label
1
P3_0
2
D0
3
P3_1
4
D1
5
P3_2
6
D2
7
P3_3
8
D3
9
P3_4
10
D4
11
P3_5
12
D5
13
P3_6
14
D6
15
P3_7
16
D7
17
WR
18
CS2
19
Vpp
20
CS3 (Bumpers)
21
P2_12
22
CS4
23
P2_13
24
CS5
25
P2_14
26
A0
27
P2_15
28
A1
29
P5_9
30
Vcc
31
Gnd
32
RD#
33
Gnd
34
Vcc
