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<interfaces>
<beagleboard>
<interface expansion="3" name="BUTTON_GREEN" gpio="139"/>
<interface expansion="4" name="" gpio="144"/> <!-- always 0 value -->
<interface expansion="5" name="BUTTON_YELLOW" gpio="138"/>
<interface expansion="6" name="THUMBWHEEL2" gpio="146"/>
<interface expansion="7" name="THUMBWHEEL4" gpio="137"/>
<interface expansion="8" name="BUTTON_RED" gpio="143"/>
<interface expansion="9" name="BRIDGE5" gpio="136"/> <!-- works -->
<interface expansion="10" name="BRIDGE2" gpio="145"/> <!-- always 1.8V -->
<interface expansion="11" name="" gpio="135"/> <!-- doesn't seem to work -->
<interface expansion="12" name="BRIDGE6" gpio="158"/> <!-- works -->
<interface expansion="13" name="" gpio="134"/> <!-- tested, works -->
<interface expansion="14" name="BRIDGE1" gpio="162"/> <!-- works -->
<interface expansion="15" name="" gpio="133"/> <!-- doesn't seem to work -->
<interface epxansion="16" name="BRIDGE3" gpio="161"/> <!-- works -->
<interface expansion="17" name="" gpio="132"/>
<interface expansion="18" name="BRIDGE4" gpio="159"/> <!-- works -->
<interface expansion="19" name="THUMBWHEEL1" gpio="131"/> <!-- always 0 value -->
<interface expansion="20" name="ARDUINO_RESET" gpio="156"/> <!-- write error on BB, always low -->
<interface expansion="21" name="IMU_INT0" gpio="130"/>
<interface expansion="22" name="IMU_INT1" gpio="157"/>
<interface expansion="23" name="IMU_SDA" gpio="183"/>
<interface expansion="24" name="IMU_SCL" gpio="168"/>
<interface name="BUTTON_USER" gpio="7"/>
<interface name="LED_USR0" gpio="149"/>
<interface name="LED_USR1" gpio="150"/>
</beagleboard>
<arduino>
<!-- Digital -->
<interface pin="0" name="SERIAL_TX" not-connected="true"/>
<interface pin="1" name="SERIAL_RX" not-connected="true"/>
<interface pin="2" name="MOTOR3_PWM"/>
<interface pin="3" name="MOTOR4_PWM"/>
<interface pin="4" name="LED_GREEN"/>
<interface pin="5" name="MOTOR1_PWM"/>
<interface pin="6" name="MOTOR2_PWM"/>
<interface pin="7" name="LED_AMBER"/>
<interface pin="8" name="LED_RED"/>
<interface pin="9" name="LED_UV"/>
<interface pin="10" name="LED_EMERGENCY"/>
<!--
Top connection is looking from above with the aduino on the buttom left
and the beagle board on the bottom right.
_ _ _ _ _
| 1 | 2 |
| 3 | 4 |
| 5 | 6 |
| 7 | 8 |
| 9 | 10|
- - - - -
1. TOP1 (NC)
2. TOP2 (NC)
3. TOP3
4. TOP4
5. TOP5
6. TOP6
7. TOP7
8. TOP8
9. 5V (NC)
10. GND (NC)
TOP3, TOP5 and TOP7 have PWM capabilities on timer 1
-->
<interface pin="11" name="TOP7"/>
<interface pin="12" name="TOP5"/>
<interface pin="13" name="TOP3"/>
<interface pin="14" name="BRIDGE5"/>
<interface pin="15" name="BEAGLEBOARD_RESET"/>
<interface pin="16" name="BRIDGE4"/>
<interface pin="17" name="BRIDGE2"/>
<interface pin="18" name="BRIDGE6"/>
<interface pin="19" name="BRIDGE1"/>
<interface pin="20" name="BRIDGE3"/>
<interface pin="21" name="REGULATOR_ENABLE" not-connected="true"/>
<interface pin="23" name="TOP1" not-connected="true"/>
<interface pin="25" name="TOP6"/>
<interface pin="27" name="TOP8"/>
<interface pin="29" name="TOP4"/>
<interface pin="31" name="TOP2" not-connected="true"/>
/ <interface pin="33" name="???"/>
<interface pin="22" name="MOTOR1_B"/>
<interface pin="24" name="MOTOR3_B"/>
<interface pin="26" name="MOTOR1_A"/>
<interface pin="28" name="MOTOR2_A"/>
<interface pin="30" name="MOTOR3_A"/>
<interface pin="32" name="MOTOR4_A"/>
<interface pin="34" name="" not-connected="true"/>
<interface pin="36" name="MOTOR4_B"/>
<interface pin="38" name="MOTOR2_B"/>
<interface pin="40" name="TEMPERATURE" not-connected="true"/>
<!--
Base connections are looking from above with the aduino on the bottom
left and the beagle board on the bottom right.
Left:
_ _ _ _ _
| 1 | 2 |
| 3 | 4 |
| 5 | 6 |
| 7 | 8 |
| 9 | 10|
| 11| 12|
- - - - -
1. 5V
2. NC
3. GND
4. NC
5. Digital 47
6. Digital 45
7. Analog 8
8. Analog 7
9. Digital 49
10. NC
11. Digital 51
12. Digital 53
Right:
_ _ _ _ _
| 1 | 2 |
| 3 | 4 |
| 5 | 6 |
| 7 | 8 |
| 9 | 10|
| 11| 12|
- - - - -
1. NC
2. NC
3. NC
4. NC
5. Digital 41
6. Digital 39
7. Analog 3
8. Analog 2
9. NC
10. Digital 37
11. Digital 35
12. Digital 43
-->
/ <interface pin="35" name="MOTOR1_ENCODER1"/>
/ <interface pin="37" name="MOTOR1_ENCODER2"/>
/ <interface pin="39" name="MOTOR2_ENCODER1"/>
/ <interface pin="41" name="MOTOR2_ENCODER2"/>
/ <interface pin="43" name="MOTOR3_ENCODER1"/>
/ <interface pin="45" name="MOTOR3_ENCODER2"/>
/ <interface pin="47" name="MOTOR4_ENCODER1"/>
/ <interface pin="49" name="MOTOR4_ENCODER2"/>
/ <interface pin="51" name="PROXIMITY_SERVO"/>
/ <interface pin="53" name="BASE1" not-connected="true"/>
<interface pin="42" name="BATTERY_LOW"/>
<interface pin="44" name="LED_STATUS_GREEN"/>
<interface pin="46" name="LED_STATUS_YELLOW"/>
<interface pin="48" name="BATTERY_EMPTY"/>
<interface pin="50" name="BATTERY_MEDIUM"/>
<interface pin="52" name="BATTERY_HIGH"/>
<!-- Analog -->
<interface pin="A0" not-connected="true"/>
<interface pin="A1" not-connected="true"/>
/ <interface pin="A2" name="PROXIMITY1"/>
/ <interface pin="A3" name="PROXIMITY2"/>
<interface pin="A4" not-connected="true"/>
<interface pin="A5" not-connected="true"/>
<interface pin="A6" not-connected="true"/>
/ <interface pin="A7" name="PROXIMITY3"/>
/ <interface pin="A8" name="PROXIMITY4"/>
<interface pin="A9" not-connected="true"/>
<interface pin="A10" not-connected="true"/>
<!-- Battery voltage divider: R1 = 16.05k, R2 = 9.87k -->
<interface pin="A11" name="BATTERY"/>
<interface pin="A12" name="MOTOR4_CS"/>
<interface pin="A13" name="MOTOR3_CS"/>
<interface pin="A14" name="MOTOR1_CS"/>
<interface pin="A15" name="MOTOR2_CS"/>
</arduino>
</interfaces>
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