untitled.pdf (40747Bytes)
Hello,
I am not familiar with ATmega, so I need a little help.
I need to use 35 pins of ATmega128 just for sensors ,4 motors control and 3 LED's of my robot.
Okay, here is my list:
##(two motors with PWM control and two without)####
PWM 1------------1—digital----------------------------------PB5
Forward 1---------2—Digital---------------------------------PE2
Reverse 1---------3—Digital---------------------------------PE3
PWM 2------------4—Digital---------------------------------PB6
Forward 2---------5—Digital---------------------------------PE4
Reverse 2---------6—Digital---------------------------------PE5
Forward 3---------7—Digital---------------------------------PE6
Reverse 3---------8—Digital---------------------------------PE7
Forward 4---------9—Digital--------------------------------PA6
Reverse 4---------10- Digital--------------------------------PA7
##(3 IR encoder)###########
wh.encod_1-------11- Digital------------------------------PA3
wh.encod_2-------12- Digital-------------------------------PA4
encod_3------------13- Digital------------------------------PA5
###(color recognition with LDR)###
LDR-1---------------14-analog-------------------------------PF0
##(Bump sensor - tactile switch)##
Bump_sens_1----15- analog----------------------------PF1
Bump_sens_2----16- analog------------------------------PF2
##(Simple IR obsticle sensor)#####
Obst_sens_1------17- analog------------------------------PF3
Obst_sens_2------18- analog------------------------------PF4
##(HC-SR04 ultrasound sensors)###
Sonar_1-----------19- Digital--------------------------------PA0
Sonar_2-----------20- Digital---------------------------------PA1
Sonar_3-----------21- Digital---------------------------------PA2
##( 8 IR Line sensors)############
Sens_1------------22- Digital---------------------------------PC0
Sens_2------------23- Digital---------------------------------PC1
Sens_3------------24- Digital---------------------------------PC2
Sens_4------------25- Digital---------------------------------PC3
Sens_5------------26- Digital---------------------------------PC4
Sens_6------------27- Digital---------------------------------PC5
Sens_7------------28- Digital---------------------------------PC6
Sens_8------------29- Digital---------------------------------PC7
##(Motor breaking)##########
Stop_m_1---------30- digital or analog?---------------PB2
Stop_m_2---------31- digital or analog?---------------PB3
Stop_m_3---------32- digital or analog?---------------PB4
##(Red, Green, Blue LED's)###
R_Led-------------33-Digital---------------------------------PD4
G_Led-------------34-Digital---------------------------------PD5
B_Led-------------35-Digital---------------------------------PD6
From the left:
Sensor or motor or LED -> number -> signal mode -> ATmega128 pin
So, do You have any advices in choosing right pins of ATmega128. Or maybe I chose wrong pins and made mistakes?
Also I dont want to block my way in future inprovements (like connecting second processor as slave, o using GPS...)
Thank-You a lot for Your help
ps.
Here is a Pin configurations of ATmega128:
ps2. By the way. I am not sure if I can use LM358N in wheel encoder circuit like that. (middle circuit)