Microcontroller board description

Rev 0 board

    The microcontroller board is designed to provide a pretty general set of capabilities.  Most of these can be modified in software and/or by patch wires on the controller board.

Stock capabilities are:

3 motor drives
3 quadrature encoder inputs
8 Sharp GP2D12 IR range sensors (or other analog input with reprogramming)
7 RC servos or Sonar (SRF04 or Polaroid)
1 SPI
1 IIC (programmed for Devantech compass)
12 bits of DIO
battery voltage (internal)
dual axis accel (internal)
yaw rate gyro (internal)
reset switch (external)
power on light (external)
USB interface

internal spares:

4 analog input
7 Discrete I/O bits

Further description of this board's capabilities can be found in the software section.