Support » Programming Orangutans and the 3pi Robot from the Arduino Environment » 2. ATmega168/328-Arduino Pin Mapping »
2.b. Baby Orangutan B Pin Mappings
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Pin Assignment Table Sorted by Function
| Function | Arduino Pin | mega168 Pin |
|---|---|---|
| digital I/Os (x16) | digital pins 0 – 2, 4, 7 – 10, 12, 13 analog inputs 0 – 5 | PD0 – PD2, PD4, PD7, PB0 – PB2, PB4, PB5, PC0 – PC5 |
| analog inputs (x8) | analog inputs 0 – 7 | PC0 – PC5, ADC6, ADC7 |
| motor 1 control (A and B) | digital pins 5 and 6 | PD5 and PD6 |
| motor 2 control (A and B) | digital pins 3 and 11 | PD3 and PB3 |
| red user LED | digital pin 1 | PD1 |
| user trimmer potentiometer | analog input 7 | ADC7 |
| ICSP programming lines (x3) | digital pins 11, 12, and 13 | PB3, PB4, PB5 |
| RESET | reset | PC6 |
| UART (RX and TX) | digital pins 0 and 1 | PD0 and PD1 |
| I2C/TWI (SDA and SCL) | analog inputs 4 and 5 | PC4 and PC5 |
| SPI | inaccessable to user | |
| Timer1 PWM outputs (A and B) | digital pins 9 and 10 | PB1 and PB2 |
Pin Assignment Table Sorted by Pin
| Arduino Pin | Orangutan Function | Notes/Alternate Functions |
|---|---|---|
| digital pin 0 | digital I/O | USART input pin (RXD) |
| digital pin 1 | digital I/O | connected to red user LED (high turns LED on) USART output pin (TXD) |
| digital pin 2 | digital I/O | external interrupt 0 (INT0) |
| digital pin 3 | M2 control line | Timer2 PWM output B (OC2B) |
| digital pin 4 | digital I/O | USART external clock input/output (XCK) Timer0 external counter (T0) |
| digital pin 5 | M1 control line | Timer0 PWM output B (OC0B) |
| digital pin 6 | M1 control line | Timer0 PWM output A (OC0A) |
| digital pin 7 | digital I/O | |
| digital pin 8 | digital I/O | Timer1 input capture (ICP1) divided system clock output (CLK0) |
| digital pin 9 | digital I/O | Timer1 PWM output A (OC1A) |
| digital pin 10 | digital I/O | Timer1 PWM output B (OC1B) |
| digital pin 11 | M2 control line | Timer2 PWM output A (OC2A) ISP programming line |
| digital pin 12 | digital I/O | Caution: also an ISP programming line |
| digital pin 13 | digital I/O | Caution: also an ISP programming line |
| analog input 0 | analog input and digital I/O | ADC input channel 0 (ADC0) |
| analog input 1 | analog input and digital I/O | ADC input channel 1 (ADC1) |
| analog input 2 | analog input and digital I/O | ADC input channel 2 (ADC2) |
| analog input 3 | analog input and digital I/O | ADC input channel 3 (ADC3) |
| analog input 4 | analog input and digital I/O | ADC input channel 4 (ADC4) I2C/TWI input/output data line (SDA) |
| analog input 5 | analog input and digital I/O | ADC input channel 5 (ADC5) I2C/TWI clock line (SCL) |
| analog input 6 | dedicated analog input | ADC input channel 6 (ADC6) |
| analog input 7 | dedicated analog input | connected to user trimmer potentiometer ADC input channel 7 (ADC7) |
| reset | RESET pin | internally pulled high; active low digital I/O disabled by default |
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