Pololu 3pi Robot - Manual (Page 45)

Pin Assignment Table Sorted by Function
Function ATmegaxx8 Pin Arduino Pin
free digital I/Os (x3)
(remove PC5 jumper to free digital pin 19)
PD0, PD1, PC5 digital pins 0, 1, 19
free analog inputs (if you remove jumpers, x3) PC5, ADC6, ADC7 analog inputs 5 – 7
motor 1 (left motor) control (A and B) PD5 and PD6 digital pins 5 and 6
motor 2 (right motor) control (A and B) PD3 and PB3 digital pins 3 and 11
QTR-RC reflectance sensors (left to right, x5) PC0 – PC4 digital pins 14 – 18
red (left) user LED PD1 digital pin 1
green (right) user LED PD7 digital pin 7
user pushbuttons (left to right, x3) PB1, PB4, and PB5 digital inputs 9, 12, and 13
buzzer PB2 digital pin 10
LCD control (RS, R/W, E) PD2, PB0, and PD4 digital pins 2, 8, and 4
LCD data (4-bit: DB4 – DB7) PB1, PB4, PB5, and PD7 digital pins 9, 12, 13, and 7
reflectance sensor IR LED control (drive low to turn IR LEDs off) PC5 (through jumper) digital pin 19
user trimmer potentiometer ADC7 (through jumper) analog input 7
2/3rds of battery voltage ADC6 (through jumper) analog input 6
ICSP programming lines (x3) PB3, PB4, PB5 digital pins 11, 12, and 13
reset pushbutton PC6 reset
UART (RX and TX) PD0 and PD1 digital pins 0 and 1
I2C/TWI inaccessable to user
SPI inaccessable to user
Pololu 3pi Robot User's Guide © 2001–2014 Pololu Corporation
9. Pin Assignment Tables Page 45 of 63