Pins

This is the pin information which can also be found at Pins.h.

Motor Pins

• Enables
• Selection (left, right, off)

Left Motor

PIN_MOTOR_E1: 134
PIN_MOTOR_L1: 42
PIN_MOTOR_L2: 41

Right Motor

PIN_MOTOR_E2: 135
PIN_MOTOR_L3: 18
PIN_MOTOR_L4: 17

Input Pins

• Reading current round and part
• Telling the robot to start

PIN_GO_BUTTON_TO: 126
PIN_GO_BUTTON_FROM: 133
const int PIN_GO_BUTTON_VCC: 135
const int PIN_GO_BUTTON_GND: 124
const int PIN_FAST_ROUND: 7 NOTE: This is connected through an analog pin

Distance Sensors

• Arranged in the following manner:

^FRONT^
__F
LF RF
LB RB

• Includes their GND, VCC, and signal pins

PIN_DISTANCE_SENSOR_F: 5
PIN_DISTANCE_SENSOR_LF: 2
PIN_DISTANCE_SENSOR_LB: 3
PIN_DISTANCE_SENSOR_RF: 4
PIN_DISTANCE_SENSOR_RB: 1

Line Sensors

• Arranged with one on the left and one on the right
• Arduino is respondible for telling the Linux side when a line is seen

PIN_LINE_SENSOR_L: 5
PIN_LINE_SENSOR_R: 6

Output Pins

• LED's for showing robot state
• Also includes their GND pins
• If you're not an electrical: an LED just needs a potential difference, not an actual ground to emit light

PIN_READY_LIGHT_VCC: 124
PIN_END_LIGHT_VCC: 125
PIN_STATUS_LIGHTS_GND: 123

Pin Settings

PIN_STATE_HIGH
PIN_STATE_LOW
PIN_DIRECTION_OUT

Pin property constants

PIN_DIRECTION
PIN_STATE