CONTROLLER PIN MAPPING
VNH 5019 #1 Analog Test Switch PWM
IN A D43 A0 A7 D22 D2 D8
IN B D47 A1 A6 D3 D7
PWM D13 A2 A5 D4 D6
CS A8 A3 A4 D5 -
5V GND 5V GND
VNH 5019 #2
IN A D39 Digital ICSP Serial Comm.
IN B D41 D34 D20 Reset D52 D50 5V 5V
PWM D12 D32 D21 GND D51 5V GND GND
CS A9 D30 D24 D16 D14
D28 D26 D17 D15
VNH 5019 #3 5V GND - -
IN A D35
IN B D37 Receiver LED X-Bee
PWM D10 D36 D29 D27 D25 D23 5V
CS A10 D38 GND
D40 D18
VNH 5019 #4 D42 Servo D19
IN A D31 D48 D44 D46 D45 D11 -
IN B D33 D49 5V,3A 5V,3A 5V,3A 5V,3A
PWM D9 5V GND GND GND GND
CS A11 GND
Serial Comm. SPI Comm. Interupt Specification
Rx 0 USB MISO D50 INT 0 D2 MicrocontrollerArduino Mega2560 R3
Tx 0 USB MOSI D51 INT 1 D3 Processor ATmega 2560
Rx 1 D19 SCK D52 INT 2 D21 Motor Driver Pololu VNH5019 Single
Tx 1 D18 SS D53* INT 3 D20 Clock Speed 16 MHz
Rx 2 D17 INT 4 D19 Flash Memory256 KB
Tx 2 D16 TWI Comm. INT 5 D18 RAM/ ROM 8 KB/ 4 KB
Rx 3 D15 SDA D20 PWM 8-Bit
Tx 3 D14 SCL D21 Power Input 7-12VDC Rocommended
DC Jack 2.1mm Center-Positive
ARDUINO MEGA 2560 R3 PIN MAPPING
Pin Name Device Pin Name Device
Digital Pin 0 (RX0) USB Digital Pin 36 Receiver 1
Digital Pin 1 (TX0) USB Digital Pin 37 VNH5019 #3 INB
Digital Pin 2 (PWM, INT0) PWM 1 Digital Pin 38 Receiver 2
Digital Pin 3 (PWM, INT1) PWM 3 Digital Pin 39 VNH5019 #2 INA
Digital Pin 4 (PWM) PWM 5 Digital Pin 40 Receiver 3
Digital Pin 5 (PWM) PWM 7 Digital Pin 41 VNH5019 #2 INB
Digital Pin 6 (PWM) PWM 6 Digital Pin 42 Receiver 4
Digital Pin 7 (PWM) PWM 4 Digital Pin 43 VNH5019 #1 INA
Digital Pin 8 (PWM) PWM 2 Digital Pin 44 (PWM) Servo #1 PWM
Digital Pin 9 (PWM) VNH5019 #4 PWM Digital Pin 45 (PWM) Servo #3 PWM
Digital Pin 10 (PWM) VNH5019 #3 PWM Digital Pin 46 (PWM) Servo #2 PWM
Digital Pin 11 (PWM) Servo #4 PWM Digital Pin 47 VNH5019 #1 INB
Digital Pin 12 (PWM) VNH5019 #2 PWM Digital Pin 48 Receiver 5
Digital Pin 13 (PWM, LED) VNH5019 #1 PWM Digital Pin 49 Receiver 6
Digital Pin 14 (TX3) Serial 6 Digital Pin 50 (MISO) ICSP
Digital Pin 15 (RX3) Serial 8 Digital Pin 51 (MOSI) ICSP
Digital Pin 16 (TX2) Serial 5 Digital Pin 52 (SCK) ICSP
Digital Pin 17 (RX2) Serial 7 Digital Pin 53 (SS) -*
Digital Pin 18 (TX1, INT5) X Bee 3
Digital Pin 19 (RX1, INT4) X Bee 4 Analog Pin 0 Analog 1
Digital Pin 20 (SDA, INT3) Digital 2 Analog Pin 1 Analog 3
Digital Pin 21 (SCL, INT2) Digital 4 Analog Pin 2 Analog 5
Digital Pin 22 Test Switch Analog Pin 3 Analog 7
Digital Pin 23 LED 4 Analog Pin 4 Analog 8
Digital Pin 24 Digital 6 Analog Pin 5 Analog 6
Digital Pin 25 LED 3 Analog Pin 6 Analog 4
Digital Pin 26 Digital 8 Analog Pin 7 Analog 2
Digital Pin 27 LED 2 Analog Pin 8 VNH5019 #1 CS
Digital Pin 28 Digital 7 Analog Pin 9 VNH5019 #2 CS
Digital Pin 29 LED 1 Analog Pin 10 VNH5019 #3 CS
Digital Pin 30 Digital 5 Analog Pin 11 VNH5019 #4 CS
Digital Pin 31 VNH5019 #4 INA Analog Pin 12 -*
Digital Pin 32 Digital 3 Analog Pin 13 -*
Digital Pin 33 VNH5019 #4 INB Analog Pin 14 -*
Digital Pin 34 Digital 1 Analog Pin 15 -*
Digital Pin 35 VNH5019 #3 INA * Pin is not provied on the expanded port.
POLOLU VNH5019 SINGLE OPERATION
IN A IN B PWM OUT A OUT B Operating Mode
1 1 1 H H Brake to Vcc
1 0 1 H L Clockwise
0 1 1 L H Counterclockwise
0 0 1 L L Brake to Ground
DEFAULT CONTROLLER OPERATION
Device Motor Driver Receiver Channel Operation
Motor 1 1 1 Drive Motor 1
Motor 2 2 2 Drive Motor 2
Motor 3 (Left Wheel) 3 3 and 4 Control Robot Direction
Motor 4 (Right Wheel) 4 3 and 4 Control Robot Direction
- - 5 Unassigned
- - 6 Unassigned
