3pi+ 32U4 Robot - Assembled Standard Edition - Pinout and Power Distribution

Ground (0 V)
AVR I/O pin names
Power distribution
Arduino digital pin numbers
AVR ADC channels
Arduino analog pin numbers
USART
I
2
C
SPI
Interrupts
JTAG
Other peripheral functions
On-board hardware
PWM outputs (Arduino analogWrite)
GND
5V
PD0
Line sensor 5 (DN5)
Line sensor 4 (DN4)
Line sensor 3 (DN3)
Line sensor 2 (DN2)
Line sensor 1 (DN1)
Emitter control (EMIT)
Bump sensor, right (BR)
Bump sensor, left (BL)
3SCL
OC0BINT0IMU SCL
PB7
PC6
PD4
PF1
PF4
PF5
PF7
PD6
GND
3V3
PD1
ADC8
ADC1
ADC4
ADC5
ADC7
ADC9
11
5
4
22
21
20
18
12
2
RTS PCINT7
SDA
A6
A4
A3
A2
A0
A11
OC0A / OC1C
OC3A / OC4A
INT1 IMU SDA
T1OC4D
TCK
TMS
TDI
ICP1
PD0
PF0
PF4
GND
PD2
5V
GND
PD1
PE2
PD7
GND
PD3
5V
GND
SDA
TXD1
ADC10
2
6
1
A7
3
23
19
0
ADC0
ADC6
RXD1
A5
A1
SCLOC0B
TDO
INT0
INT2
IMU SCL
LCD RS
Right encoder B
VBAT / 3 divider
INT1
HWB
INT3
IMU SDA
Left encoder B
Buzzer PWM
LCD E
PD5
PB0
GND
GND
PD3
PD2
5V
PC7
PB3
GND
GND
GND
GND
30
17
1
0
SS
TXD1
RXD1
INT3
IN2
XCK1 / CTS
PCINT0
LCD DB7
LCD DB5
LCD E
LCD RS LCD contrast
13
14 MISO / PDO
OC4A ICP3 / CLK0
PCINT 3
LCD DB6
LCD DB4 Button A
Yellow LED
PB1
PB3
5V
PB2
GND
RESET
15
14
16
SCK
MISO / PDO
PCINT1
PCINT3
Right motor direction
LCD BD4 Button A
MOSI / PDI PCINT2 Left motor direction
Button B
Button C
Green LED (TXL)
Red LED (RXL)
3pi+ 32U4 Control Board
Pinout and peripherals
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