Ground (0 V)AVR I/O pin names

Power distribution

Arduino digital pin numbersAVR ADC channels

Arduino analog pin numbersUSART

I2CSPI

Interrupts

JTAG

Other peripheral functionsOn-board hardware

PWM outputs (Arduino analogWrite)

GND5V

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)

3SCLOC0BINT0IMU SCL

PB7PC6PD4PF1PF4PF5PF7PD6GND3V3PD1

ADC8ADC1ADC4ADC5ADC7ADC9

11542221201812

2

RTS PCINT7

SDA

A6A4A3A2A0A11

OC0A / OC1COC3A / OC4A

INT1 IMU SDA

T1OC4D

TCKTMSTDI

ICP1

PD0PF0PF4GNDPD25V

GND

PD1PE2PD7GNDPD35V

GND

SDA

TXD1

ADC10

2

6

1

A7

32319

0

ADC0ADC6

RXD1

A5A1

SCLOC0B

TDO

INT0

INT2

IMU SCL

LCD RS

Right encoder BVBAT / 3 divider

INT1HWB

INT3

IMU SDALeft encoder B

Buzzer PWM

LCD E

PD5PB0GNDGNDPD3PD25V

PC7PB3GNDGNDGND

GND

3017

10

SS

TXD1RXD1

INT3IN2

XCK1 / CTSPCINT0

LCD DB7LCD DB5

LCD ELCD RS LCD contrast

1314 MISO / PDO

OC4A ICP3 / CLK0PCINT 3

LCD DB6LCD DB4 Button A

Yellow LED

PB1PB3

5VPB2GND

RESET1514

16

SCKMISO / PDO

PCINT1PCINT3

Right motor directionLCD BD4 Button A

MOSI / PDI PCINT2 Left motor direction

Button BButton C

Green LED (TXL)Red LED (RXL)

3pi+ 32U4 Control BoardPinout and peripherals

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Ground (0 V)Power control

Power distribution

VBATGND

VBATGNDVBAT

GNDGNDGNDGND

3V35VVM

VSW

(no connection)

GNDSW

PWRBPWRAONOFFCTL

STAT

3pi+ 32U4 Control BoardPinout and peripherals

3pi+ 32U4 Control BoardPower distribution and control

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