Freescale I/O Mapping
Pin Name Pin Function I/O Pin Number Notes
PWM Outputs:
PWM0 Steer Module #1 O 9
PWM1 Steer Module #2 O 11
PWM2 Steer Module #1 O 30
PWM3 Steer Module #2 O 32
PWM4 Drive Module 1 O 34
PWM5 Drive Module 2 O 36
PWM7 O
Digital Outputs:
Enable Emergency Stop O 37 PA1
F/R #1 Drive 1 Direction O 33 PA3
L/R #1 Steer 1 Direction O 35 PA2
F/R #2 Drive 2 Direction O 29 PA5
L/R #2 Steer 2 Direction O 31 PA4
Pulse Accumulators:
Encoder0 Steer Module #1 I 13
Encoder1 Steer Module #2 I 15
Encoder2 Steer Module #3 I 50
Encoder3 Steer Module #4 I 52
Interrupted Inputs:
Encoder4 Drive Module #1 I
Encoder5 Drive Module #2 I
Encoder6 Drive Module #3 I
Encoder7 Drive Module #4 I
Digital Inputs:
Switch1 Steer Allign #1 I 26
Switch2 Steer Allign #2 I 28
Switch3 Steer Allign #3 I
Switch4 Steer Allign #4 I
Analog Inputs:
Batt_AD Voltage Measurement I 18? 0-5VDC A-D input indicates battery voltage (0V indicates 0V, 5V indicates 24VDC)