Mon Aug  1 05:27:49 PDT 2011 Kevin Karplus

Mapping for pins in hexmotor_rev2.3

Arduino pin	ATmega328	default net	meaning
0		PD0 RX		--		RX
1		PD1 TX		--		TX
2		PD2 INT0	SERVO_2
3 PWM		PD3 INT1/OC2B	M1_SPEED	MOTOR 1 speed
4		PD4 T0		M_CLK
5 PWM		PD5 T1/OC0B	M3_SPEED	MOTOR 3 speed
6 PWM		PD6 AIN0/OC0A	M2_SPEED	MOTOR 2 speed
7		PD7 AIN1	SERVO_1
8		PB0 ICP1	M_DATA
9 PWM		PB1 OC1A	M4_SPEED	MOTOR 4 speed/	Servo 3
10 PWM		PB2 SS-/OC1B	M5_SPEED	MOTOR 5 speed/	Servo 4
11 PWM		PB3 MOSI/OC2A	M6_SPEED	MOTOR 0 speed
12		PB4 MISO	M_LATCH
13		PB5 SCK		SERVO_0

PWM outputs are paired for PWM frequency:
	OC0A, OC0B	motor 2,3
	OC1A, OC1B	motor 4,5	unusable with servos on Arduino other than Megas
	OC2A, OC2B	motor 0,1

Bits out of the serial-to-parallel latch:

QA A0 is last bit received
name	pin #	net 	meaning
QA	15	A0	MOTOR 0 direction/run
QB	1	A1	MOTOR 1 direction/run
QC	2	A2	MOTOR 2 direction/run
QD	3	A3	MOTOR 3 direction/run
QE	4	A4	MOTOR 4 direction/run
QF	5	A5	MOTOR 5 direction/run
QG	6	A6	spare
QH	7	A7	spare



QA	15	B0	MOTOR 0 alternate ON/OFF (instead of Ard 11)
QB	1	B1	MOTOR 1 alternate ON/OFF (instead of Ard 3)
QC	2	B2	MOTOR 2 alternate ON/OFF (instead of Ard 6)
QD	3	B3	MOTOR 3 alternate ON/OFF (instead of Ard 5)
QE	4	B4	MOTOR 4 alternate ON/OFF (instead of Ard 9)
QF	5	B5	MOTOR 5 alternate ON/OFF (instead of Ard 10)
QG	6	B6	spare
QH	7	B7	spare

If using PWM on Arduino (other than MEGA), jumper Motor 4 speed to B4
and Motor 5 speed to B5, rather than to Arduino 9 and 10, and jumper
them for "antiphase", to get ON/OFF/BRAKE control even though PWM is
not available from OC1A and OC1B.